UDC 519.87, DOI: 10.2298/CSIS1001051S

Modeling and Simulation of a Spherical Mobile Robot

Sang Shengju1, 2, Zhao Jichao1, Wu Hao2 and An Qi1

  1. School of Mechanical and Power Engineering, East China University of Science and Technology
    Shanghai, P.R. China, 200237
    sang1108@163.com, wh@mail.ecust.edu.cn, csj19850112@yahoo.com.cn, anqi@ecust.edu.cn
  2. School of Information Science and Technology, Taishan College
    Shandong Taian, P.R. China, 271021
    {sang1108, zjc}@163.com


Spherical mobile robot (SMR) has been studied analytically and experimentally in this paper, a novel design with an internal propulsion mechanism and mathematical models of the robotís dynamics and kinematics are introduced. A 3D model of robot is built by SOLIDWORKS and then exported to ADAMS2007 for simulation. The results of simulation by combining MATLAB / SIMULINK with ADAMS are presented. It is shown experimentally that the behavior of actual model consist well with the prediction of simulation.

Key words

spherical mobile robot (SMR), simulation, ADAMS, virtual prototype, kinematics and dynamic, mathematical model

Digital Object Identifier (DOI)


Publication information

Volume 7, Issue 1 (February 2010)
Advances in Computer Animation and Digital Entertainment
Year of Publication: 2010
ISSN: 1820-0214 (Print) 2406-1018 (Online)
Publisher: ComSIS Consortium

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How to cite

Shengju, S., Jichao, Z., Hao, W., Qi, A.: Modeling and Simulation of a Spherical Mobile Robot. Computer Science and Information Systems, Vol. 7, No. 1. (2010)