Research on Power System Integration and Control Strategy of Amphibious Spherical Robot
Abstract：To address the low integration of power systems in amphibious spherical robots, this paper proposes the idea of increasing the ratio of shared components between the two power systems. A power system based on a shared buoyancy tank, linear drive mechanism, turning drive mechanism, and a multi-purpose pump is designed to enhance the integration of the two systems. At the same time, a strategy for adjusting the water content in the two buoyancy tanks is proposed. By regulating the overall weight and driving torque of the robot, the motion performance of the amphibious spherical robot in various movement modes is improved.
Keywords：Amphibious Spherical RobotAmphibious Power SystemControl Strategy
Publication Date：2025-03-25
Pages：3( 14-16 )