Then the kinematic differential equations are derived from the nonholonomic constraints on its motion using the generalized Euler angles, and a mathematical model of the robot's motion is established. Finally, the kinematic analysis and simulation of the spherical robot are developed using numerical examples. 介绍了该球形机器人的结构原理,基于其运动的非完整约束,利用广义欧拉角给出了其运动微分方程,建立了该球形机器人的运动学模型,结合实例对该球形机器人进行了运动分析和仿真。