摘要
提出了一种结构简化的球形机器人,介绍了其内部结构和驱动原理。球形机器人是一种典型的非完整系统,根据其在平面作纯滚动时所受的非完整约束,建立运动学模型。运用Lagrange-Routh方程推导出结构简化球形机器人的动力学模型。最后联立结构简化球形机器人的运动学和动力学模型,得到该球形机器人的完整动力学模型,利用Matlab中的Simulink工具进行直线行走状态下的仿真分析。仿真结果与实际运动规律符合,验证了动力学模型的正确性。
In this paper we propose a novel spherical robot with simplified structure, and its structure and driving principle are presented. Spherical robot is a typical non-holonomic system. Based on the non-holonomic constraint acting on the spherical robot when it rolls without slipping on a flat surface, its kinematic model was established. Its dynamic model was derived by applying the Lagrange-Routh equations. Finally, the complete dynamic model for the spherical robot was obtained by combining the two models together. Using the Simulink tools in Matlab, the state of moving forward has been simulated. Simulation results reflect faithfully the real motion law and validate the correctness of the dynamic model.
出处
《机械科学与技术》
CSCD
北大核心
2009年第11期1435-1438,共4页
Mechanical Science and Technology for Aerospace Engineering
基金
国家自然科学基金项目(60674100)资助
