摘要
结合球形机器人稳定性、防护性好与两轮机器人转向灵活性高、控制方便等优点,设计了一种可变形的双形态球形机器人。球形态时,受密闭球壳保护,机器人可在狭窄空间和恶劣环境下运动;在开阔平坦路况时,机器人展开为两半球形态,能实现两半球差速转向,控制也更容易。详细介绍了该球形机器人的机械结构,并在此基础上对机器人的两种形态进行了运动分析,为后续深入研究奠定了基础。
Combined with the advantages of stability and good protection of spherical robot and high steering flexibility and convenient control of two-wheeled robot,a deformable dual form spherical robot is designed.In the form of the ball,it is protected by a closed spherical shell,and the robot can move in a narrow space and harsh environment;in open and flat road conditions,the robot unfolds into a two-hemisphere form,which can achieve differential steering between the two hemispheres and control is easier.This paper introduces the mechanical structure of the spherical robot in detail,and analyzes the two forms of the robot on this basis,which lays a foundation for subsequent in-depth research.
作者
王阳
于涛
WANG Yang;YU Tao(College of Mechanical Engineering and Automation,Liaoning University of Technology,Jinzhou 121000,China)
出处
《机械工程与自动化》
2023年第4期41-43,共3页
Mechanical Engineering & Automation
基金
辽宁省教育厅科学研究经费项目(JQL202015406)。
关键词
球形机器人
双形态
结构设计
运动分析
spherical robot
dual form
structure design
motion analysis
