A review of the structural design of the deformation mechanism of spherical mobile robots

doi:10.16731/j.cnki.1671-3133.2025.07.017

Abstract

Abstract: Spherical mobile robots,owing to their advantages such as strong stability,high flexibility,and low energy consumption,have significant applications in unstructured scenarios like rescue search and terrain exploration. Currently,domestic and foreign scholars have conducted relatively few studies on the deformation structures of spherical mobile robots. Their deformation forms and applicable scopes are categorized and summarized from 4 aspects in the study:deformation based on key structures,deformation based on topological theory structures,deformation of amphibious spherical mobile robots,and deformation of jumping spherical mobile robots. The enhancement of maneuverability and terrain adaptability in spherical mobile robots is acknowledged to hold referential significance.

Key words: spherical mobile robots, structural deformation, driving method, topological deformation

CLC Number:

TP242

TIAN Ying, XU Rongying. A review of the structural design of the deformation mechanism of spherical mobile robots[J]. Modern Manufacturing Engineering, 2025, 538(7): 139-148.

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