A novel design of a two-wheeled robot

According to the theory of spherical robot which invented by our laboratory, we designed a novel designed two-wheeled robot It possesses many salient advantages when compared to traditional mobile robots for its special characters, including self-balance, anti-overturn, and the rests. Its primary driving-method and structure-design are analyzed and optimized in this paper. Moreover, in this paper, the kinematics model has been established to analyze the moving track of the two-wheeled robot. In addition, the dynamics model based on the circular-plate model has been built to analyze the climbing capacity and the obstacle performance, so as to get the optimum ratifications of the parameters to improve those abilities. Besides, we have manufactured a prototype of this two-wheeled robot, and do some experiments to test the function of this robot, including the maximum speed, the fixed touted movements, and the capability of climbing. And the result coincides with the designed alms.