Design and development of a spherical robot

Nazamuddin , Yusuf (2015) Design and development of a spherical robot. Project Report. UTeM. (Submitted)

Text DESIGN AND DEVELOPMENT OF A SPHERICAL ROBOT 24pages.pdf Download (529kB)

Abstract

A spherical robot is a two interconnected hemisphere with two rotary joints and one prismatic joint. This project is about designing and developing a spherical robot that can be controlled using wireless protocol. This project focuses on the performance of the robot while it performs the locomotion. A Spherical robot is designed to follow instructions from the smartphone via Bluetooth wireless communication. By using Bluetooth the limitation of using wired based control can be overcome. The spherical robot consists of spherical shells, Arduino Uno, L289P motor driver shield, Bluetooth module, Micro DC gear motor and graphic user interface (GUI). The mechanism of a spherical robot is using the wheel driven principle which the center of gravity is focuses at the bottom of the mechanical part. Thus, the mechanism used is still on its position when the spherical robot performs the locomotion. From the experiment, this spherical robot is capable to perform the locomotion in different terrains such as tar road, grass surface, cement surface and mosaic surface. The spherical robot also has also the ability to avoid the obstacle which obtains in front of it. The spherical robot is best performing on the tar road surface.

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