A rolling contact transmission-driven robot with three-dimensional adaptability

Rolling robots have garnered significant attention for their high mobility and adaptability in complex environments. Traditional designs relying on center-of-gravity adjustment mechanisms face challenges in energy efficiency and structural complexity. This study presents a novel rolling robot driven by a rolling contact transmission mechanism, which achieves continuous motion through alternating anchoring and rolling of two semi-cylindrical modules. The design integrates a linkage-driven actuation system, friction bands for anchoring, and vacuum suction cups for vertical surface adhesion. Systematic experiments evaluated the impact of wheel dimensions (radius, width) and friction coefficients on performance. Results demonstrate that rolling speed increases with wheel radius (up to 40 mm) but decreases marginally with width due to increased inertia. Herringbone-patterned friction bands effectively mitigate slippage on inclined surfaces (up to 10°), while vacuum suction cups enable stable rolling on vertical walls. The robot exhibited robust adaptability across diverse terrains, including smooth glass, sandy, pebble-laden, and grassland surfaces. Notably, it transitioned between horizontal and vertical planes using rolling contact transmission. Limitations include anchoring instability in extreme humidity and dynamic response inefficiencies. Future work will explore bionic adhesion technologies and modular designs to enhance versatility. This study advances rolling robot design by balancing simplicity and three-dimensional environmental adaptability, offering potential applications in reconnaissance, rescue, and complex terrain navigation.