Dynamic modeling of two identical coupled spherical robots

Objective: This research was carried out in order to examine the dynamic modeling of two identical coupled spherical robots that are designed to solve problems such as balance, wobble, and skidding of spherical robots and cornering problems of omnidirectional mobile robots. Our main goal in the dynamic modeling of two identical coupled spherical robots is to design an omnidirectional mobile robot by using two identical coupled spherical robot designs instead of mecanum wheels in omnidirectional mobile robots. Material and Methods: In this thesis, dynamic analyses of a single spherical robot and two identical coupled spherical robots design were made by using the MSC Adams program. As a result of these dynamic analyses, the applicability of our design has been checked. As a consequence, experimental studies were made on different road profiles in order to check the result of dynamic analyses, too. Results: According to results that made of analyses and experiments, the dynamic modeling of two identical coupled spherical robots design has been seen to be applicable. Conclusion: It was understood in this study that the dynamic modeling of two identical coupled spherical robots design is applicable. Keywords: Spherical Robots, Dynamic Analysis, MSC Adams, Two Identical Coupled Spherical Robots