Abstract
In recent year, the single wheel robot systems which are similar to wheelbarrow are proposed. This study compares various types of robots, and the spherical robots receive many concerns because of following advantages: They can move and do omnidirectional reconnaissance; the symmetrical structure enables the spherical robots to restore balance as suffering impact; simplifies steering and power mechanisms. The development of spherical robots applies gimbal structure and gyroscope effect recently. The mechanical systems based on three dimensional spherical structures provide following advantages: The outer shell and gimbal can protect all power components from environmental interference; external impact force can be uniformly dispersed in order to avoid damage. Therefore, This study will develop a new Three Layer Spherical Robot whose energy consumption will be lower than the traditional multi-robot system. This study will practice the mechanism design, equations of motion, simulation and motor control of the One Layer Spherical Robot. The planar rigid body kinematics and the Lagrange method are used to solve the equations of motion. The commercial software MATLAB/Simulink simulate the design and motion of the spherical robotic system. This study integrates the mechanical design, equation of motion, dynamic simulation, and finally, the actual motor control. In the future, the Three Layer Spherical Robotic system will be realized.