一类简单机器人运行轨道的规律及设计

Orbit of Simple Robot: Operation Patters & Design

一类简单机器人装有正三角形底盘,在三角形的2个顶点处装有2个主动轮,另一个顶点处装有方向可任意变化转动的滑轮,可通过调节机器人的2个主动轮的转速来控制机器人的运行轨道。本文研究了在一次设定机器人的2个主动轮的转速时的运行规律,给出了数学证明。并在此基础上,作出了一次性设定2个主动轮转动的线速度的值,以及设定该值后在运行的过程中还可进行一次调节,使简单机器人运行到目标点的时间最少的设计。

The simple robot discussed in this paper is equipped with triangle chassis. Two main wheels are attached to two peaks of the triangle, and a flexible and adjustable pulley attached to the third peak. The paper presents the operation patterns governing the speed of two main wheels of robot and its mathematical proof, on the basis of which the value of the speed line of two main wheels in motion is offered; and adjustment can be made for simple robot to use the least time to reach the target point.