BYQ-3球形机器人的动力学模型

Dynamic Model of the BYQ-3 Spherical Robot

在运动分析的基础上,基于矢量运算的Kane方程建模方法,建立BYQ-3球形机器人的完整动力学模型,并进行仿真和试验研究。分别确定球壳、框架和配重块的角速度和角加速度,以及球壳质心、框架质心和配重块质心的速度和角速度,推导球壳、框架和配重块的广义速率、偏速度、偏加速度、广义惯性力以及广义主动力,在此基础上建立BYQ-3球形机器人的完整动力学模型。通过建立转动关节的转动摩擦力矩和地面对球壳的滚动摩擦力偶矩模型对完整动力学模型进行修正。针对'长轴水平'条件下的直线运动,基于修正后的完整动力学模型进行仿真研究,同时利用BYQ-3球形机器人平台进行开环运动控制试验研究。仿真和试验结果表明:在考虑了摩擦因素后所建立的BYQ-3球形机器人的完整动力学模型是有效的。

Based on the motion analysis, the integral dynamics model of the BYQ-3 spherical robot is introduced through the Kane equation modeling method with the characteristics of vector operation, and the simulation and experiment research are implemented. The angular velocity, angular acceleration, centroid velocity and acceleration of the spherical shell, framework and weight pendulum are defined, respectively, and the generalized rate, partial velocity, partial acceleration, generalized inertial force and generalized active force of the spherical shell, framework and weight pendulum are derived, respectively. Then, the integral dynamics model of the BYQ-3 spherical robot is proposed on the basis of derived formula above. The integral dynamics model is revised through the designed model of the moment of friction torque of the rotating joint and the couple moment of rolling torque between the ground and the spherical shell. In conditions of the line motion of which the longitude axis is parallel with the ground, the simulation is presented on the basis of revised integral dynamics model, and moreover, the open motion control experiment is also presented by using the BYQ-3 spherical robot. The results of the simulation and experiment show that considering the frication factors among the system, the integral dynamics model of the BYQ-3 spherical robot is effective.