Robotics, Volume 13, Issue 6 (June 2024) – 13 articles
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This study by the Polytechnic of Turin presents a comprehensive design of a spherical rover for space applications. The spherical shape allows the protection of internal components and rollover resistance, ideal for planetary exploration. The work includes design methods, component dimensioning, electronic integration, control strategy and energy balance of the pendulum–CMG (Control Moment Gyroscope) system. Power transmission and control systems are supported by CMG-focused studies and analytical models. Multibody simulations show the 0.5 m diameter robot tracking straight paths and climbing up to 0.11 m steps. The design improves on single-pendulum versions by achieving speeds of up to 2.5 m/s, climbing 15° inclines and overcoming steps 10 times higher. An energy analysis evaluates autonomy for mission profiles. View this paper
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