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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Chengkun Shi Hanxu Sun |
| Copyright Year | 2009 |
| Description | Author affiliation: Department of Automations, Beijing University of Posts and Telecommunications, 100876, China (Chengkun Shi; Hanxu Sun) |
| Abstract | A netlike spherical shell was proposed to replace the traditional smooth spherical shell of the spherical mobile robot in order to widen the practical application scope and to prolong the using life. First the mechanical property of the netlike shell was compared with that of the traditional smooth shell. Then, the kinematic and dynamic models of the spherical mobile robot with a netlike spherical shell were constructed using Newton-Euler method and Dalembert's principle. The motion smoothness and starting characteristic were analyzed. The motion simulation was developed based on virtual prototype technology to verify the theoretical model and to provide references for the later research on this type of robot. The simulation results indicated that the impact of netlike shell on the motion performance of spherical mobile robot can be weakened by adjusting the physical parameters of the netlike spherical shell. |
| Starting Page | 1095 |
| Ending Page | 1099 |
| File Size | 4503181 |
| Page Count | 5 |
| File Format | |
| ISBN | 9781424426928 |
| DOI | 10.1109/ICMA.2009.5246136 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2009-08-09 |
| Publisher Place | China |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Mobile robots Motion analysis Shape control Mechatronics Robotics and automation Sun Mechanical factors Kinematics Virtual prototyping Energy dissipation motion simulation spherical mobile robot netlike spherical shell motion smoothness starting characteristic |
| Content Type | Text |
| Resource Type | Article |
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