Abstract
The design and simulation study of Flyball System are proposed. The Flyball System which is designed in spherical shape might not only reduce the energy loss but also improve the sensitivity of operation. The most important advantage is that the Flyball System could be controlled accurately because three actuators actuate three shells directly. The Flyball System is able to operate on the planar via three different axes actuators which actuate different shells individually. Besides, the eccentric moment enables the Flyball system to steer smoothly. In the aspect of dynamics, the equations of planar motion derivative is based on dynamics of gyro and gyroscope sensor via Lagrange equation. Owing to gyroscope effect, there is a couple which deserves to be eliminated by the third axis actuators. As a result, the Flyball system could achieve accurate steering motion. In the view of simulations, there are two models built. The first model built in MATLAB/Simulink is based on the equations of motion. The others built in ADAMS is based on the mechanism design. The simulations of x-axis motion compare the trajectory, velocity and acceleration according to different torque inputs. In simulations of planar motion, the study confirms the steering mechanism. Also, the planar motion is divided into four types which are left turn, right turn, left U-turn and right U-turn. The simulation results of left turn and right turn are similar in ADAMS and MATLAB/Simulink. However, the simulation results of left U-turn and right U-turn are different. The study proposes feasible solutions to the problem in order to improve the equivalence between two models. In the future, the study will design controllers according to the equations of motion and implement the prototype.