Structural Design and Kinematic Analysis of a Dual Shaped Spherical Robot

In order to enhance the external operability and stability of spherical robots, a spherical shell unfolding mechanism is used to increase the contact area between the spherical robot and the ground, thereby enhancing stability. The introduction of unfolding mechanisms has improved the operability of spherical robots in external environments. A compact spherical robot with two forms of unfolding and closing was designed by introducing a gear rack unfolding mechanism. Establish a kinematic model and conduct kinematic analysis on the dual shaped spherical robot in both open and closed states, laying a foundation for later research.