Unveiling the Complete Variant of Spherical Robots
Hassen Nigatu, Li Jihao, Gaokun Shi, Guodong Lu, and Huixu Dong

TL;DR
This paper systematically enumerates all possible variants of spherical ($SO(3)$) parallel robots using an analytical velocity-level approach, enabling comprehensive exploration of their architectures and potential applications.
Contribution
It introduces a generalized analytical method to identify all 73 limb types and over 5300 variants of spherical robots, expanding beyond case-by-case analysis.
Findings
Identified 73 non-redundant limb types for $SO(3)$ motion.
Explored 5329 spherical robot variants with diverse capabilities.
Provided a systematic framework for designing novel spherical robots.
Abstract
This study presents a systematic enumeration of spherical () type parallel robots' variants using an analytical velocity-level approach. These robots are known for their ability to perform arbitrary rotations around a fixed point, making them suitable for numerous applications. Despite their architectural diversity, existing research has predominantly approached them on a case-by-case basis. This approach hinders the exploration of all possible variants, thereby limiting the benefits derived from architectural diversity. By employing a generalized analytical approach through the reciprocal screw method, we systematically explore all the kinematic conditions for limbs yielding motion.Consequently, all 73 possible types of non-redundant limbs suitable for generating the target motion are identified. The approach involves performing an in-depth algebraic…
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Taxonomy
TopicsModular Robots and Swarm Intelligence · Robotic Mechanisms and Dynamics · Control and Dynamics of Mobile Robots
