For realizing omni-directional movement and operating task of spherical space robot system, this paper describes an innovated prototype and analyzes dynamic characteristics of a spherical rolling robot with telescopic manipulator. Based on the Newton-Euler equations, the kinematics and dynamic equations of the spherical robot's motion are instructed detailedly. Then the motion simulations of the robot in different environments are developed with ADAMS. The simulation results validate the mathematics model of the system. And the dynamic model establishes theoretical basis for the latter job.
Research on modeling and motion simulation of a spherical space robot with telescopic manipulator based on virtual prototype technology
Space Exploration Technologies II ; 2009 ; Orlando,Florida,United States
Proc. SPIE ; 7331
2009-05-01
Conference paper
Electronic Resource
English
British Library Conference Proceedings | 2009
|The dynamic analysis and control strategy of spherical robot with telescopic manipulator [7331-12]
British Library Conference Proceedings | 2009
|Multi-foot motion simulation robot based on virtual prototype technology and simulation method
European Patent Office | 2022
|