Roball robot

Abstract

This thesis presents the design, development, and testing of a spherical robot with holonomic motion. It is discussed why a spherical shape robot is of particular interest among the shape of robots. The objective of the thesis is to design, build, and test a sphere robot that can move in any direction, and to evaluate different concepts developed in the past to achieve this objective, in order to have the most efficient one as a base for the design. Also, it is discussed all the issues and concerns during the process of the physical structure and the control systems design, as well as some solutions implemented or possible to implement in future designs.

This thesis presents the design, development, and testing of a spherical robot with holonomic motion. It is discussed why a spherical shape robot is of particular interest among the shape of robots. The objective of the thesis is to design, build, and test a sphere robot that can move in any direction, and to evaluate different concepts developed in the past to achieve this objective, in order to have the most efficient one as a base for the design. Also, it is discussed all the issues and concerns during the process of the physical structure and the control systems design, as well as some solutions implemented or possible to implement in future designs.