风力驱动球形机器人动力学

Dynamics of the Wind-driven Spherical Robot

风力驱动球形机器人是一种新型移动机器人,适合于危险或人类难以到达的复杂地形环境的探测,因此在环境探测领域具有独特的优势。首先考虑了碰撞接触点无滑动和有滑动的情况,采用Kane方法建立了风力驱动球形机器人弹跳动力学模型,该模型可以直接分析机器人碰撞后的运动情况。然后给出了机器人滚动和滑动的运动条件,运用牛顿力学方法建立了机器人的滚动和滑动动力学模型。最后将弹跳、滚动和滑动运动模式有机结合,并考虑环境中随机风的作用,实现了风力驱动球形机器人的运动仿真。数值仿真结果揭示了环境变化和机器人结构参数变化对其运动性能的影响。

The wind-driven spherical robot is a novel mobile robot which can be used to explore dangerous and complex terrains inaccessible to human beings. Thus this robot possesses some unique advantages in the environment exploration fields. This article first considers the case in which the robot is slipping or not at the point of contact,and uses the Kane method to establish a bouncing dynamic model of the wind-driven spherical robot. The model provides a direct method for analyzing the robot＇s movement after impact. Then,the rolling and sliding conditions are given,and the rolling and sliding dynamic models of the robot based on Newton mechanics are established. Finally,the dynamic models of the motion patterns are combined,and the effect of the stochastic wind in the environment are considered. The movement simulation of the robot is realized. The numerical simulation results reveal the effect of the environment and the structural parameters on the movement performances of the robot.