  This paper introduces a simulation study of fluid actuated multi-driven
closed system as spherical mobile robot called "RollRoller". Robot's mechanism
design consists of two essential parts: tubes to lead a core and mechanical
controlling parts to correspond movements. Our robot gets its motivation force
by displacing the spherical movable mass known as core in curvy manners inside
certain pipes. This simulation investigates by explaining the mechanical and
structural features of the robot for creating hydraulic-base actuation via
force and momentum analysis. Next, we categorize difficult and integrated 2D
motions to omit unstable equilibrium points through derived nonlinear dynamics.
We propose an algorithmic position control in forward direction that creates
hybrid model as solution for motion planning problem in spherical robot. By
deriving nonlinear dynamics of the spherical robot and implementing designed
motion planning, we show how RollRoller can be efficient in high speed
movements in comparison to the other pendulum-driven models. Then, we validate
the results of this position control obtained by nonlinear dynamics via
Adams/view simulation which uses the imported solid model of RollRoller.
Lastly, We have a look to the circular maneuver of this robot by the same
simulator.
