Mechanical Sciences
Mechanical Sciences
Mechanical Sciences
Articles | Volume 16, issue 2
Articles | Volume 16, issue 2
https://doi.org/10.5194/ms-16-887-2025
© Author(s) 2025. This work is distributed under
the Creative Commons Attribution 4.0 License.
https://doi.org/10.5194/ms-16-887-2025
© Author(s) 2025. This work is distributed under
the Creative Commons Attribution 4.0 License.
Articles | Volume 16, issue 2
Research article
 | 
21 Nov 2025
Research article |  | 21 Nov 2025

Research on the structural design and motion characteristics of a self-reconfigurable spherical robot

Kan Shi, Haidong Wang, Dongbin Zhang, and Ran Wang

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Short summary
We designed a shape-shifting spherical robot that overcomes terrain limitations of traditional rolling designs. It contracts to pass through narrow gaps and expands to cross obstacles. The system combines pendulum-based propulsion, rotor-assisted stabilization, and gear-actuated folding arms. Tests and simulations confirm that it maintains straight paths and adapts well to slopes, voids, and rough ground, making it ideal for search, space, or field tasks.
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