摘要
应用机器人重心偏移力偶驱动的方法,设计了一种内外混合驱动球形机器人装置,并制作了该机器人的试验样机。根据力矩平衡原理,对于风驱动、内驱动和内外同时驱动的不同驱动方式,建立了描述球形机器人越障运动性能的约束方程,得出了风速、地形倾角、障碍物高度、球体配重、球体尺寸及质量等各参数之间的关系。编制了越障运动分析程序,运动仿真实例表明了该越障运动分析结论的正确性。
An internal and external hybrid driven spherical robot was designed based on the method of applying the robot--driven force couple caused by offseting the gravity center. Then a prototype of the spherical robot was produced. According to the theory of moment balance, the constraint equations that described the performance of overcoming obstacles for the spherical robot was developed for different drives of the wind driven, internal driven and internal and external driven. With these equations, wind speed, the slope angle of the terrain, the height of obstacles, the counterweight in the sphere and the size and weight of the sphere were determined to be associated each other by some relations. The motion analysis programmes were composed. Finally, motion cases of the robot verify the effectiveness of the overcoming obstacles analysis method.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2010年第1期17-21,58,共6页
China Mechanical Engineering
基金
国家自然科学基金资助项目(50875193)
关键词
球形机器人
内外驱动
越障性能
越障
spherical robot
internal and external driven
performance of overcoming obstacles
overcoming obstacles
