DESIGN STRUCTURES AND DRIVING MECHANISMS OF SPHERICAL ROBOT

In this paper, brief descriptions of the different driving mechanisms that can be incorporated in a spherical robot are explained along with their advantages and disadvantages. We have mainly focused this paper on widely used driving mechanisms such as hamster mechanism, pendulum – driven mechanism and control moment gyroscope (CMG) mechanism. Spherical robot is an upcoming product that is used in the market for educational purpose, surveillance, spying, monitoring and in variety of applications. The below explained mechanism are utilized in the construction of spherical robot for better performance and accuracy in number of applications.