Design and development of an omnidirectional spherical robot

Abdul Halim , Jusoh (2015) Design and development of an omnidirectional spherical robot. Project Report. UTeM. (Submitted)

Text DESIGN AND DEVELOPMENT OF AN OMNIDIRECTIONAL SPHERICAL ROBOT 24pages.pdf Restricted to Repository staff only until 1 January 2020. Download (465kB)

Abstract

Nowadays, autonomous mobile robot had been developed in order to reduce human work load in moving heavy load. However, most of the robots are designed to use differential drive method. In this project, the omniwheel concept part is applied in spherical robot as a part of mechanism for the robot driven and all the mechanisms are wrapped in a spherical shell. The aim of this project is to build a spherical robot which can control the movement of robot especially for different type of terrain and to develop graphical user interface to control wirelessly using Bluetooth. The robot uses the direct-driving method, which utilizes the motor power to directly drive the spherical robot via the transmission system the robot is capable of performing three DOF omnidirectional locomotion. In order to generate continuous rolling motion of the shell, the mechanism inside the robot implement the holonomic concept. To control the robot, arduino nano is used as a main controller. This spherical robot can move Omni-directionally means it can move in any direction to achieve any desired position.

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