【摘要】 设计了一种全向滚动球形机器人的内驱动机构,4台直线电机分别在4个空间对称的轮辐上径向移动,改变系统重心位置,驱动球形机器人在平面上全向滚动.基于球体纯滚动的非完整约束和步进直线电机运动的离散特性,建立了球形机器人的运动模型,给出了控制其运动的二阶微分方程组,进而提出了该球形机器人的轨迹规划算法.结合实例进行了运动分析和轨迹规划仿真,表明这种运动分析模型是正确的,并且简化了球形机器人的驱动装置,降低了能耗.更多还原

【Abstract】 An internal locomotion mechanism of a spherical omnidirectional rolling robot is designed.Four linear motors move inward and outward respectively along four spokes with geometrical symmetry in three dimensional space,which will cause the robot to roll in all directions on a flat surface by displacing its gravity center.Based on the nonholonomic constraint arising from rolling contact and the discrete motion nature of stepper linear motors,the motion model of the robot is established.The second-order control differential equations are derived.Then an algorithm for trajectory planning is developed.A numerical example is given to illustrate the methods for motion analysis and trajectory planning.The virtual prototype technology is used to validate the effectiveness of the methods.更多还原