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Design and Analysis of a Spherical Robot with Two Degrees of Freedom Swing

Aiming at the problem that the mechanical structure of the ordinary pendulum spherical robot is improperly designed to cause a certain degree of freedom to swing the range, this paper proposes a two-degree-of-freedom spherical robot XK-I with a swing around the X and Y axes. The design concept, mechanical principle and rolling and rotating motion characteristics of the XK-I robot are introduced. According to the characteristics of XK-I robot motion, the dynamic model of linear motion is established by Lagrangian equation and simulated. According to the kinetic model, the XK-I robot steering is implemented by controlling the number of steps of the stepping motor by the pulse signal, so that the XK-I robot can move in any direction. The linear and steering tests of the XK-I robot were carried out through real experiments to verify the feasibility of the design.