摘要
针对球体不存在失稳的特性,提出一种完全对称结构的球形机器人.该球形机器人由2个电动机驱动2组螺旋传动机构带动球壳滚动实现直线运动,并通过改变球内部分的重心位置实现转弯.建模型时,将球壳与内部机构分离,把球内部分完全看成是球壳的驱动力,使理论分析得以合理简化,实现了利用力学的达朗贝尔-拉格朗日变分原理和非完整系统理论对球形机器人动力学的精确解算.通过对它的直线运动、转弯运动、爬坡能力等进行了具体分析,证明了该设计的可行性,并确定了影响该球形机器人运动性能的参数.
A novel spherical rolling robot based on stability of sphere was proposed. The robot is designed symmetrically, with every component placed diametrically opposite on the sphere. It moves ahead by two motors which are attached to the shell and drive the corresponding screw transmission mechanism respectively, and turns by changing the position of the barycenter. The mathematical model of the robot was simplified by separating the inside drive unit as the driving force of the shell, while the spherical rolling robot dynamics was precisely analyzed by using D＇ Alembert-Lagrange principle and nonholonomic system theory. Its motion capabilities, including moving in straight line or circular arc, slope climbing and over obstacle, were also analyzed respectively. Some factors which affect the motion capability of the robot were given.
出处
《上海交通大学学报》
EI
CAS
CSCD
北大核心
2007年第8期1271-1275,1281,共6页
Journal of Shanghai Jiaotong University
关键词
球形机器人
非完整系统
动力学建模
spherical rolling robot
nonholonomic system
dynamic modeling
作者简介
王广（1981-），男，重庆市人，硕士生，主要研究方向为机电一体化、机械系统动力学建模与控制．
莫锦秋（联系人），女，副教授，电话（Tel．）：02134206354；Email：mojinqiu@sjtu．edu.cn
