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Mechanics Based Design of Structures and Machines
An International Journal
Volume 40, 2012 - Issue 4: Multibody Systems and Mechatronics
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Original Articles

Design and Modelling of Omnibola©, A Spherical Mobile Robot

Mariano Jaimez Department of Mechanical Engineering, University of Málaga, Málaga, SpainCorrespondence[email protected]
,
Juan J. Castillo Department of Mechanical Engineering, University of Málaga, Málaga, Spain
,
Francisco García Department of Mechanical Engineering, University of Málaga, Málaga, Spain
&
Juan A. Cabrera Department of Mechanical Engineering, University of Málaga, Málaga, Spain
Pages 383-399 | Received 01 Nov 2011, Accepted 01 Apr 2012, Published online: 17 Sep 2012
 
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Abstract

A spherical mobile robot called Omnibola© is introduced and analyzed in this article. Some advantages of this kind of robot compared with typical wheeled robots are described. Its geometry and its features are presented, emphasizing on those which make it different from other ball-shaped robots. A mathematical model has been developed to have a tool to study our robot dynamics. We conducted some experiments to confirm that model results are similar to experimental results observed in the real robot. Either in experiments or in simulations, the robot's behavior is quite oscillatory. Because of this, a simple control law is proposed to stabilize that oscillatory motion.

Notes

#Communicated by M. Ceccarelli and V. Mata.

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