单电机驱动的三自由度球形机器人，靠弹簧与电机协同实现多向运动。
MonoRollBot: 3-DOF Spherical Robot with Underactuated Single Compliant Actuator Design
- 仅用一个电机+弹簧实现3自由度运动，结构极简。
- 通过调节旋转质量与弹簧刚度，可控制运动行为。
- 适合对轻量化、低功耗有要求的巡检或太空探索场景。
球形滚动机器人在巡检和太空探索等移动机器人领域受到广泛关注。设计欠驱动滚动机器人面临挑战：如何在有限驱动器数量下实现高自由度的多方向推进。本文提出一种新型三自由度（3-DOF）球形机器人MonoRollBot，采用仅由单一弹簧-电机系统驱动的欠驱动机构。与传统球形机器人不同，MonoRollBot采用极简驱动方式，仅依靠一个电机和一个被动弹簧控制运动。机器人通过创新的弹簧动力学与电机控制耦合，实现3-DOF运动。本文详细阐述了MonoRollBot的设计，并通过设计研究评估其运动能力。同时，基于旋转质量与刚度参数的变化，研究了其运动行为特性。
原文摘要 · Abstract (English)
Spherical rolling robots have garnered significant attention in the field of mobile robotics for applications such as inspection and space exploration. Designing underactuated rolling robots poses challenges in achieving multi-directional propulsion with high degrees of freedom while utilizing a limited number of actuators. This paper presents the MonoRollBot, a novel 3-degree-of-freedom (DOF) spherical robot that utilizes an underactuated mechanism driven by only a single spring-motor system. Unlike conventional spherical robots, MonoRollBot employs a minimalist actuation approach, relying on only one motor and a passive spring to control its locomotion. The robot achieves 3-DOF motion through an innovative coupling of spring dynamics and motor control. In this work, we detail the design of the MonoRollBot and evaluate its motion capabilities through design studies. We also do studies on its locomotion behaviours based on changes in rotating mass and stiffness properties.
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