Preprint
Article
Design, Modelling and Tests of a Barycenter Offset Locomotion Mechanism for Cylindrical Robots
This version is not peer-reviewed.
Submitted:
17 March 2021
Posted:
19 March 2021
Read the latest preprint version here
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
Keywords:
Education Robotics
; Mechanism Design
; Motion Control
; Barycenter Offset Robot
Copyright: This open access article is published under a Creative Commons CC BY 4.0 license, which permit the free download, distribution, and reuse, provided that the author and preprint are cited in any reuse.
Downloads
428
Views
464
Comments
0
Subscription
Notify me about updates to this article or when a peer-reviewed version is published.
MDPI Initiatives
Important Links
© 2025 MDPI (Basel, Switzerland) unless otherwise stated