摘要
提出了一种具有稳定平台的全向滚动球形机器人装置.该球形机器人由装在球体内部、相互垂直布置的两台伺服电机驱动,可在平面上全向滚动.在球形机器人内部有一个稳定的仪器、设备搭载平台,这个平台在球体全向滚动过程中始终保持稳定的姿态而不随球体一起滚动.介绍了该球形机器人的结构原理,基于其运动的非完整约束,利用广义欧拉角给出了其运动微分方程,建立了该球形机器人的运动学模型,结合实例对该球形机器人进行了运动分析和仿真.
A spherical omnidirectional ：rolling robot with a stable platform is presented, which is driven by two mutually perpendicular induce the ball to roll in all directions at inside the spherical robot to carry sensing a stable stance when the spherical shell is servo motors placed within the sphe：＇ical shell that all times on a fiat surface. A stable platform exists devices or actuators, but it does not rotate and keeps rolling in any direction. The mechanical construction of the spherical robot is introduced. Then the kinematic differential equations are derived from the nonholonomic constraints on its motion using the generalized Euler angles, and a mathematical model of＇ the robot＇s motion is established. Finally, the kinematic analysis and simulation of the spherical robot are developed using numerical examples.
出处
《西安电子科技大学学报》
EI
CAS
CSCD
北大核心
2006年第1期53-56,共4页
Journal of Xidian University
基金
陕西省自然科学基金资助项目(2003E34)
西安市工业科技攻关项目(GG04037)
关键词
球形机器人
全向滚动
稳定平台
非完整约束
运动分析和仿真
spherical robot
omnidirectional rolling
stable platform
nonholonomic constraints
kinematic analysis and simulation
