Dynamic Modeling of a Spherical Robot with Arms by Using Kane´s Method

Spherical robot has no operational ability to surrounding unless it integrates arms. For realizing omnidirectional movement and operating task of spherical robot system, this paper describes an innovated prototype and analyzes dynamic characteristics of a spherical rolling robot with arms. Considered nonholonomic constraint, dynamic equations of the robot system with arms were instructed detailedly with Kane´s method. Algorithmic steps of equations are developed. The inverse dynamics and the pose of spherical shell can be gotten with MATLAB. For given missions, the experimental results of virtual prototype model agree well with the simulation results, which validate the mathematics model of the system. And the dynamic model establishes theoretical basis for the latter job.