Design and development of a spherical robot for mobile applications

Samuji, Siti Nor Atirah (2023) Design and development of a spherical robot for mobile applications. Project Report. Universiti Teknikal Malaysia Melaka, Melaka, Malaysia. (Submitted)

Text (Full Text) Design and development of a spherical robot for mobile applications.pdf - Submitted Version Download (2MB)

Abstract

This project focused on the design and development of a spherical robot, which can be wirelessly controlled and navigate various terrains through a wheel-driven mechanism. The robot, composed of two hemispheres, housed a small vehicle that facilitated locomotion.The movement of the robot was controlled via a smartphone through a wifi connection and was equipped with a Hibiscus sense board, which included gyroscopes and accelerometer sensors, two A4988 motor drivers, two stepper motors, and a graphical user interface (GUI). The project aimed to explore the challenges and limitations associated with the spherical robot’s driving mechanics, control strategies, and sensing capabilities. In addition, the assessment of the robot’s performance across different surfaces, including tar roads, grass, sand, cement, and carpet has been carried out. While the spherical robot could achieve omnidirectional movement on level ground, it encountered issues related to stability control on uneven or slippery surfaces such as grass, sand and tar toad. This project contributed to the development of a unique spherical robot that could execute various tasks in diverse environments using wireless communication. The findings from this project provided valuable insights for future research and development in the field of spherical robotics.

Actions (login required)

View Item