【摘要】 提出一种新型全方位运动球形机器人结构方案,运用非完整系统力学理论对球形机器人运动学进行分析,利用ADAMS软件进行虚拟样机建模和运动仿真,通过物理样机实验验证运动分析的正确性。更多还原

【Abstract】 A new kind of spherical robot is presented.Preliminary analysis is made on spherical robot kinematics by using nonholonomic system dynamics.The model of the virtual prototype and the motion simulation is developed.The experimental results support the motion analysis.更多还原