Continuous energy supply is essential to spherical mobile robot in the Antarctic investigation. This paper puts forward energy harvesters that can generate electricity from the wind to achieve the long time and the long range exploration. The major contribution is to present the preliminary models of the energy harvester which uses the law of electromagnetic induction, and meanwhile the spatial structures about generating electricity are analyzed, and the influence of different structures on the power generation and efficiency will be obtained. In order to get the characteristics of power generation efficiency, this paper designs one element pipeline model and two element pipeline model, and then the motion of magnet in harvester will be simulated in different installed structures and wind speed. The varying rules of induced voltage are concluded at last. Finally, experiments are implemented based on the simulated model. The experimental results verify the dependability of different structural schemes of the robot and the validity of induced voltages’ varying rules. The results show that the induced electromotive force value obtained by the one element pipeline structure model is larger than the two element pipeline model, but the stability of the latter is better. Through the research in this paper, it can provide a basis for selecting a suitable spherical robot space structure according to the environmental conditions to improve the endurance.

中文翻译：

---

新型球形机器人发电空间结构研究

持续的能源供应对于南极考察中的球形移动机器人至关重要。本文提出了一种利用风能发电的能量收集器，以实现长时间、远距离的探索。主要贡献是提出了利用电磁感应定律的能量收集器的初步模型，同时分析了发电的空间结构，得到不同结构对发电和效率的影响。为了得到发电效率的特性，本文设计了单元管道模型和二元管道模型，然后模拟了不同安装结构和风速下收割机中磁铁的运动。最后总结了感应电压的变化规律。最后，基于仿真模型进行实验。实验结果验证了机器人不同结构方案的可靠性和感应电压变化规律的有效性。结果表明，单元管道结构模型得到的感应电动势值大于二元管道模型，但后者的稳定性更好。通过本文的研究，可为根据环境条件选择合适的球形机器人空间结构以提高续航能力提供依据。实验结果验证了机器人不同结构方案的可靠性和感应电压变化规律的有效性。结果表明，单元管道结构模型得到的感应电动势值大于二元管道模型，但后者的稳定性更好。通过本文的研究，可为根据环境条件选择合适的球形机器人空间结构以提高续航能力提供依据。实验结果验证了机器人不同结构方案的可靠性和感应电压变化规律的有效性。结果表明，单元管道结构模型得到的感应电动势值大于二元管道模型，但后者的稳定性更好。通过本文的研究，可为根据环境条件选择合适的球形机器人空间结构以提高续航能力提供依据。