Power generation performance of a spherical robot with a pendulum in an amphibious environment

Yansheng Li, Meimei Yang, Bo Wei, Yi Zhang

Abstract: The energy requirements of robots have received extensive attention, and the lack of energy will seriously limit the working ability of robots. This paper proposes a method of capturing energy from an amphibious environment for a spherical robot using a pendulum. The pendulum movement is analyzed during amphibious movement, and a feasible scheme is proposed to use this pendulum to capture environmental energy and convert mechanical energy into electrical energy. A mathematical model of swing power generation is established based on the pendulum dynamic equation and voltage balance equation. A physics experiment platform and virtual experimental platform are built to analyze the power generation performance. Furthermore, power generation mathematical models are established for a spherical robot rolling on a slope and floating in water, and the power generation performance is analyzed and summarized under different conditions. The results show that the proposed power generation method and scheme can effectively supply energy to a spherical robot, enhance the endurance of movement in an amphibious environment and provide theoretical guidance for the development of a physical prototype of the new generation of amphibious spherical robots.