Research on the Impact of the Slider on the Aerodynamic Characteristics of a Terrestrial–Aerial Spherical Robot

Round 1

Reviewer 1 Report

Comments and Suggestions for Authors This paper mainly studies the influence of variable mass slider of BYQ-A1 on aerodynamic characteristics. The research content is of great significance for related engineering applications and is an important research direction in this field. The author used both computational and experimental methods to study the aerodynamic characteristics of BYQ-A1 and obtained relevant conclusions, which are consistent with the argument. But there are still some comments that need improvement : 1. Abstract writing should be more standardized, and research methods should be more detailed. 2. More introduction to the current research status is needed in the Introduction, so that readers can understand the development status of related fields. 3. International standard units should be used in the table, and the expression should be clearer. 4. The difference between equation (4) and equation (5) needs to be explained. 5. What is the error of the experimental measurements? 6. The reference format needs to comply with the requirements of the journal. 7. It is necessary to prominently indicate the innovative points of this paper.

Author Response

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Author Response File: Author Response.pdf

Reviewer 2 Report

Comments and Suggestions for Authors

The paper is interesting, the developed robot is original. I have the following comments:

1. Although formula (1) is given, I do not see a developed dynamic model of the system in the form of differential equations.

2. Table 1 - the values ​​of the parameters should be given, not the designations of the symbols

3. Formula 3 is not placed in the proper place. Give more comments on it.

4. Where was formula (10) obtained from?

5.Explanations for the minima of the graphs in Fig. 5 and the maxima in Fig. 9

6. The regression models in Fig. 5, 6, 7, etc. have a very high coefficient of determination, but no statistical analysis of the results is presented. Certainly, a part of the coefficients in these models are insignificant from a statistical point of view.

7. What are regression models needed for? 
8. A sensitivity analysis could be done;

9. In Fig. 8 no polynomials are needed, the data could be fitted by straight lines.

10. In the Validation section, by which formula was the theoretical result in Fig. 12 obtained? Why is there no comparison of the theory with other experimental data?

11. Make a clearer and larger kinematic diagram of the device, explaining the principle of operation - Fig. 1;

12. In certain places it is quite difficult to understand English.

I recommend major revision.

Comments on the Quality of English Language

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Author Response

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Author Response File: Author Response.pdf

Round 2

Reviewer 2 Report

Comments and Suggestions for Authors

The paper is improved. I would recommend to add the key elements of the authors' response in the paper, for example - for the minima and maxima of the graphs.

Author Response

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Author Response File: Author Response.pdf