SpheriDrive: A spherical robot with an innovative 3-wheeled platform and omnidirectional wheels

摘要

Mobile robotics plays a crucial role in modern technology, providing innovative solutions across various sectors. This paper aims to enhance rescue operations in hazardous environments by introducing a dedicated prototype, SpheriDrive, designed specifically for rescue teams. Research Question: How can a spherical robot be designed to navigate efficiently through traffic tunnels, addressing the unique challenges of rescue operations in confined spaces? The development of the SpheriDrive prototype focuses on overcoming the limitations of spherical robots by designing a novel configuration and placement of components and wheels. The control system utilizes an Arduino Due microcontroller, while LoRa technology is employed for communication and movement control. The robot is equipped with a specialized measuring head housing various sensors to measure environmental properties within the tunnel. Experimental results from the developed robot demonstrate its practical capabilities in real-world conditions. The SpheriDrive prototype provides valuable data for rescue operations, overcoming the challenges posed by confined environments. Significance of the Results: This research significantly advances the capabilities of rescue teams by addressing design challenges and integrating innovative technologies. The prototype offers a cost-effective solution for enhancing rescue operations in hazardous environments. • The proposed design positions the robot at the center of the ball, enhancing maneuverability and navigation precision. • An innovative measuring system with a retractable mechanism and modular head detects dangerous gases and temperature. • A unique arrangement of components, wheel rotation, and positioning optimizes space utilization within the robot. • The specific wheel orientation improves stability on inclined surfaces and enhances load distribution.