摘要
针对常规球形机器人存在的机械结构复杂、缺乏稳定平台等问题,设计了一种简化的球形机器人机械结构,同时为扩充机载设备搭建了稳定的平台.对球形机器人的设计方案进行了基于Lagrange-Routh方程方法的动力学建模,利用Matlab/Simulink对已有的球形机器人数学模型进行了仿真和简要分析.结合系统的硬件装配,分别对球形机器人直线行走、爬坡等动作进行了初步实验.实验表明,新型简化的球形机器人机械结构能够完成既定行走指令,为进一步的应用推广奠定了基础.
Conventional spherical robots have the problems complex mechanical structure, lack of a stable platform and other obvious problems. To overcome these shortcomings, a simplified mechanical structure of spherical robot was designed, and a stable platform for expansion of on-board device was built. A dynamic model was built on the design scheme of the spherical robot based on Lagrange-Routh equations, and Matlab/Simulink was used to simulate and analyze the existing mathematical model of the spherical robot. By combining the system hardware assembly, the robot was initially tested on walking straight, climbing and other activities,respectively. Experiments show that the new simplified mechanical structure of the spherical robot is able to follow established walking instructions. This research lays a foundation for further application and promotion.
出处
《应用科技》
CAS
2011年第11期26-29,共4页
Applied Science and Technology
基金
南京航空航天大学研究生创新基地(实验室)开放基金资助项目(201001009)
