The invention discloses a
spherical robot with an in-situ
rotation function carried with a control moment gyro. The
robot is mainly composed of a homogeneous spherical shell, an advance driving mechanism, a steering mechanism, a control moment gyro mechanism, a heavy
pendulum and the like. The steering mechanism is composed of two steering motors, a steering gear mechanism, a
toothed belt wheel mechanism and the like. In-situ steering of the sphere is achieved through the cooperation of output torques of the two motors. Meanwhile, the
robot is carried with the control moment gyro mechanism, and the control moment gyro mechanism is mainly composed of a
flywheel, a
flywheel rotation motor, a
flywheel fixing frame, a frame rotation steering engine, the
toothed belt wheel mechanism and the like; extra
precession moment is provided through the
precession effect of a gyro rotor which rotates at a high speed, so that the operation speed of the
robot is higher, and the climbing and
obstacle crossing capacity is improved. The
spherical robot can steer in-situ and is high in operation speed, the movement
rapidity and flexibility of the
spherical robot are greatly improved, and the spherical robot has great application prospects.