An Omni-directional Rolling Spherical Robot with Telescopic Manipulator
In this paper, an omni-directional rolling spherical robot with telescopic manipulator (BYQ-IV) is presented. This robot is designed for territory or lunar exploration. It not only has features like straight line motion, circular motion, zero turning radius and obstacle avoidance, but also is able to accomplish tasks such as stably grabbing and delivering assemblies. The structure of the whole robot is divided into three sub-systems, including the motion driving system; the manipulator system and the stability maintain system. Moreover, the distribute control system of the robot based on ARM processor and wireless communication system are introduced and the software architecture of control system is analyzed. The experiment shows that the prototype of the spherical robot with telescopic manipulator (BYQ-IV) can stably grasp a static target and carry it to a new location.
Spherical Robot Manipulator ARM
Zheng Yili Sun Hanxu Jia Qingxuan Shi Chenkun Zhao Kailiang
School of Automation, Beijing University of Posts and Telecommunications Beijing,China,100876
国际会议
深圳
英文
126-131
2008-12-10（万方平台首次上网日期，不代表论文的发表时间）