Mechanical analysis and optimal design of a new kind of spherical mobile robot with two modes of locomotion

For enhance the grade ability of spherical robot, a new kind of spherical robot with climb link mechanism is designed. This kind of spherical robot can move in traditional way by the pendulum or move across large gradient slope by the new climb link mechanism. The mechanics model of the new spherical robot across slope by the climb link mechanism is created. Then the model is simulated by simulation software. The simulation result verifies the mechanism model's accuracy. Then the mechanical model of this new spherical robot named BYQ-X was made out. The mechanical structure and motion control system are detailed introduced. Finally, the accuracy of the mechanical model, the validity of the climb link mechanism are verified by tests of mechanical model.