Design and simulation analysis of three omni-directional wheels chassis for spherical robot

This paper focuses on a three omni wheels mobile spherical robot. Based on two layouts of three omni wheels evenly distributed along the circumference, the chassis design is completed, and the kinematic and dynamic analysis models are established. The kinematic and dynamic characteristics of these two layouts on flat ground are studied respectively through a multi-body dynamics simulation platform. A 3D software is used to create 3D models of the three omni wheels chassis with different layouts A and B, and the kinematic equations and dynamic equations based on the rotational speed of the wheel system are derived. The virtual prototype is designed and simulated through the simulation platform. The simulation focuses on analysing the differences in the kinematic and dynamic characteristics of the spherical robot under the two layouts, and obtains the motion trajectory, velocity characteristics and acceleration characteristics of the spherical robot on flat ground. The simulation results show that layout A has faster translation speed and better steering performance, while layouts B has faster and faster rotational speed. The research results provide important data support for the optimal design of the spherical robot chassis, and lays a theoretical foundation for the subsequent physical prototype experiments.