Preprint Article Version 1 Preserved in Portico This version is not peer-reviewed

Design, Modelling and Tests of a Barycenter Offset Locomotion Mechanism for Cylindrical Robots

Version 1 : Received: 17 March 2021 / Approved: 19 March 2021 / Online: 19 March 2021 (08:21:51 CET)

How to cite: Patiny, O. Design, Modelling and Tests of a Barycenter Offset Locomotion Mechanism for Cylindrical Robots. Preprints 2021, 2021030492 (doi: 10.20944/preprints202103.0492.v1). Patiny, O. Design, Modelling and Tests of a Barycenter Offset Locomotion Mechanism for Cylindrical Robots. Preprints 2021, 2021030492 (doi: 10.20944/preprints202103.0492.v1).

Abstract

ariousdesignsofsphericalrobotsusingbarycenter offset mechanisms were previously reported. Thiskind of robots offers advantages such as turning in placeor moving in any direction at any time. Yet, the approachesresulting in a balanced robot, which could roll with reducedenergy costs once accelerated, are scarce. We introduce anovel robot of this type. The feasibility of the approachis verified on a cylindrical robot. This paper presents anopen-source, remotely controlled, robotic cylinder. The robotuses a specifically designed mechanism to displace a massin its center, which causes the cylinder to roll forwards orbackwards. The movement characteristics of the cylinder,as well as the mathematical and physical limitations of themechanism were studied. An intuitive user interface allowsthe robot to be controlled through WiFi. This robot wasmanufactured only with readily available and inexpensivematerials, which would make it a suitable platform foreducation, typically in the fields of physics and engineering

Supplementary and Associated Material

https://github.com/opatiny/rpi-cylinder: Source code repository
https://github.com/opatiny/rc2: General project repository

Subject Areas

Education Robotics; Mechanism Design; Motion Control; Barycenter Offset Robot

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