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Design of a Spherical Robot With Cable-Actuated Driving Mechanism

[+] Author Affiliations
Ernur Karadoğan, Brian P. DeJong

Central Michigan University, Mount Pleasant, MI

Paper No. DETC2017-68540, pp. V05AT08A037; 6 pages
  • ASME 2017 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 5A: 41st Mechanisms and Robotics Conference
  • Cleveland, Ohio, USA, August 6–9, 2017
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5817-2
  • Copyright © 2017 by ASME


This paper presents the kinematics and dynamics of a spherical robot with a mechanical driving system that consists of four cable-actuated moving masses. Four cable-pulley systems control four tetrahedrally-located movable masses and the robot functions by shifting its center of mass to create rolling torque. The cable actuation decreases overall mass and, therefore, allow for less energy expenditure, as compared to other moving mass mechanisms that translate the masses by powered-screws. Additionally, the design allows the center of mass for the static (spherical shell, electronics, motors etc.) and dynamic mass (moving masses) to be at the geometric center at any given time, therefore has potential for tumbleweeding when needed. The derived equations of motion are verified by means of simulations.

Copyright © 2017 by ASME
Topics: Robots , Cables , Design



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