摘要
提出了一种采用同轴向双偏心质量转子结构的球型机器人设计方案。该方案在球形机器人同一直径方向上安装对称的两个偏心质量转子,通过改变偏心转子的运动状态,实现球形机器人的直线滚动和转向运动。根据该机器人的结构特点,采用拉格朗日方程对直线滚动和转向运动进行了动力学分析,给出了运动微分方程。最后通过Matlab仿真证明了这种设计方案的可行性。
A kind of designing scheme for the spherical robot that adopts a co-axial to double eccentric mass rotor structure was put forward. In this scheme two eccentric mass rotors were installed symmetrically in the same diametric direction, by means of changing the motion state of eccentric rotor to achieve the linear wiling and turn around movements of the spherical robot. In accordance with the structural characteristics of this robot, by adopting the Lagrange equation the dynamics analysis on the linear rolling and turn around movements was carried out and the differential equation of movements was presented. Finally, the feasibility of this kind of designing scheme was testified by means of MATLAB simulation.
出处
《机械设计》
CSCD
北大核心
2010年第2期37-39,66,共4页
Journal of Machine Design
基金
山西省留学回国人员科研基金资助项目(912003)
关键词
球型机器人
同轴向
双转子
动力学分析
spherical robot
coaxial to
double rotor
dynamics analysis
