Preprint Article Version 2 Preserved in Portico This version is not peer-reviewed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)
Version 2 : Received: 27 February 2022 / Approved: 1 March 2022 / Online: 1 March 2022 (06:46:27 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.v2). Patiny, O. Design, Modelling and Tests of a Barycenter Offset Locomotion Mechanism for Cylindrical Robots. Preprints 2021, 2021030492 (doi: 10.20944/preprints202103.0492.v2).

Abstract

Various designs of spherical robots using barycenter offset mechanisms were previously reported. This kind of robots offers advantages such as turning in placeor moving in any direction at any time. Yet, the approaches resulting in a balanced robot, which could roll with reduced energy costs once accelerated, are scarce. We introduce anovel robot of this type. The feasibility of the approach is verified on a cylindrical robot. This paper presents an open-source, remotely controlled, robotic cylinder. The robot uses a specifically designed mechanism to displace a mass in its center, which causes the cylinder to roll forwards or backwards. The movement characteristics of the cylinder, as well as the mathematical and physical limitations of the mechanism were studied. An intuitive user interface allows the robot to be controlled through WiFi. This robot was manufactured only with readily available and inexpensive materials, which would make it a suitable platform for education, typically in the fields of physics and engineering.

Keywords

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

Subject

ENGINEERING, Automotive Engineering

Comments (1)

Comment 1
Received: 1 March 2022
Commenter: Océane Patiny
Commenter's Conflict of Interests: Author
Comment: Add corrections to the abstract's layout.
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