A Study on the Terrestrial Mobility of a Spherical Amphibian Robot

Mohd Bazli Bahar; Shahrum Shah Abdullah; Mohd Shahrieel Mohd Aras; Mohamad Haniff Harun; Muhamad Khairi Aripin; Fariz Ali@Ibrahim

doi:10.31436/iiumej.v25i2.2964

Authors

Mohd Bazli Bahar Technical University of Malaysia Malacca https://orcid.org/0000-0002-1095-5682
Shahrum Shah Abdullah University of Technology Malaysia https://orcid.org/0000-0001-5759-1241
Mohd Shahrieel Mohd Aras Universiti Teknikal Malaysia Melaka
Mohamad Haniff Harun Technical University of Malaysia Malacca
Muhamad Khairi Aripin https://orcid.org/0000-0002-3314-1139
Fariz Ali@Ibrahim Technical University of Malaysia Malacca

DOI:

https://doi.org/10.31436/iiumej.v25i2.2964

Keywords:

spherical robot, terrestrial motion, pendulum, Biped-line walking robot, obstacle-navigation, locomotion, drive torque

Abstract

Amphibian spherical robots are an appealing and practical alternative that can move around on different surfaces and function in aquatic environments. Spherical robots boast remarkable mobility and robustness, enabling them to navigate and perform exploration and reconnaissance tasks even in challenging or harsh environments. This paper explores assessing the terrestrial travel capabilities of a proposed amphibian spherical robot. A rapid Prototyping machine (RPM) was used to print the prototype’s main shell, yoke, and circuit holders. One main circuit was built on the yoke, while the other was positioned in the bottom shell. The driving principle used the barycentre offset notion, in which a pendulum mass is used to vary the location of the mass to generate a motion. Additional mass is added to the pendulum to determine the robot’s performance when mass is altered. The results reveal that the robot can travel on land with a maximum velocity of 40.75 degrees per second while carrying 600 grams of weight and a turning angle of 22.8 degrees. The robot can only move when the additional mass exceeds 400 grams.

ABSTRAK: Robot sfera amfibia ialah satu alternatif menarik dan praktikal yang dapat bergerak di atas permukaan berbeza dan berfungsi dalam persekitaran akuatik. Robot sfera mempunyai mobiliti yang luar biasa dan tahan lasak. Ciri ini membolehkannya bergerak dan menjalankan tugas penerokaan dan peninjauan dalam persekitaran merbahaya atau buruk. Kajian ini adalah bagi menganalisis prestasi robot sfera amfibia ketika bergerak di darat. Mesin Pemprototaip Pantas (RPM) digunakan bagi mencetak badan utama prototaip, yok, dan pemegang litar. Satu litar utama dibina pada yok, manakala satu lagi diletakkan di bahagian bawah. Prinsip pemanduan adalah dengan menggunakan konsep penentuan kedudukan pusat jisim, di mana jisim pendulum digunakan bagi menentukan lokasi jisim sambil menghasilkan gerakan. Berat tambahan pada jisim pendulum ditambah bagi mendapatkan prestasi robot apabila jisim diubah. Dapatan kajian menunjukkan robot dapat bergerak atas darat dengan halaju maksimum 40.75 darjah sesaat sambil membawa 600 gram berat dengan sudut pusingan sebanyak 22.8 darjah. Robot hanya boleh bergerak apabila tambahan jisim melebihi 400 gram.

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