Abstract: The method for dynamic modeling, analysis and simulation of a spherical omnidirectional rolling robot is developed. The kinematic model for the spherical robot is established according to the nonholonomic constraint acting on it. On the basis of its structural characteristics, its dynamic model is derived by applying the Lagrange-Routh equations. A strategy is given to eliminate the unknown Lagrange multipliers. Then a complete dynamic model for the spherical robot is obtained, which is a system of strong coupled second-order differential equations to control the robot’s motion. Finally a simulation model that describes the complete dynamic equations of the robot is established. The motion examples of the dynamic analysis and simulation are given to verify the correctness and validity of this approach.

Key words: spherical robot, nonholonomic constraint, dynamics, analysis and simulation