For enhance the grade ability of spherical robot, a new kind of spherical robot with climb link mechanism is
designed. This kind of spherical robot can move in traditional way by the pendulum or move across large gradient slope
by the new climb link mechanism. The mechanics model of the new spherical robot across slope by the climb link
mechanism is created. Then the model is simulated by simulation software. The simulation result verifies the mechanism
model’s accuracy. Then the mechanical model of this new spherical robot named BYQ-X was made out. The mechanical
structure and motion control system are detailed introduced. Finally, the accuracy of the mechanical model, the validity
of the climb link mechanism are verified by tests of mechanical model.
In this paper we establish mechanical model of the interaction between spherical mobile robot and
lunar soil under the moon environment. Two cases are considered: 1.static case in which the spherical robot
sits stationary on the moon surface, 2.dynamic case in which the spherical robot rolls over the moon surface
with a constant forward speed. Curves of mathematical model is obtained by the software of Matlab. Then
we create the model of lunar soil and the spherical robot in the software of ANSYS. We obtain some
difference datas about the relationships between the shape of lunar soil and carrying capability of the
spherical robot. We obtain curves with these datas by Matlab curve fitting. Compare curves obtained by
Matlab with curves obtained by ANSYS and Matlab curve fitting we can see that these two groups of
curves are broadly consistent with each other. These simulation results verify the validity of the
mathematical model.
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