A platform of spherical wheel is designed

the platform can achieve omnidirectional driver with active power.The platform is assembled with single spherical wheel module according to requirement of material transport.In this way

material on the platform can achieve omnidirectional transport according to predeterminate track through friction of spherical wheel.The principle of the omnidirectional driver is analyzed thoroughly and the dynamic model in the process of transport of the platform is established.Based on the model

the movement track of the material centroid is analysed by ADAMS simulation.The result shows that the dynamic model of platform is correct and the control algorithm of the platform is feasible.