Design and Analysis of a Wind-Driven Spherical Robot with Multiple Shapes for Environment Exploration

A novel configuration of the wind-driven spherical robot with multiple shapes is proposed, which can realize the multiple movement modes of rolling, bouncing, and flying by adjusting its external shape. The constraints, switching conditions, and mechanical relations are analyzed. The bouncing dynamic model of the wind-driven spherical robot is established using the Kane's method. The rolling, sliding, and floating dynamic models of the robot based on the Newton mechanics method are derived. Finally, we combine the dynamic models and analyze all the kinds of movements of the robots considering the effect of the stochastic wind in environment. The software platform of the movement analysis is developed, and the movement simulation of the robot is realized. The numerical simulation results reveal the effects of the environment and robot parameters on the movement performances of the robot.