电磁驱动结构的球形机器人研究

Research on spherical robot based on electromagnetic driven mechanism

电磁驱动结构的球形机器人非常适合在缺少人为干预的恶劣环境(如外星球、高温管道等)中应用。新型球形机器人的驱动结构有六个电磁铁,利用电磁吸力改变球形机器人的重心,在重力作用下完成前进功能;通过一个步进电机和锥齿轮组合传动,使电磁铁旋转来实现机器人的转向功能。使用过程中不需要打开球形机器人,从而保证了球形机器人的封闭性,并且球形机器人总是平衡的,克服了翻车或跌倒的问题,没有被动摩擦轮,运动效率高。

The spherical robots based on electromagnetic driven structure makes them very suitable to be used in harsh environments where human interventions are hard to reach,such as outer planets and high temperature pipe.The drive structure of the new spherical robot has six electro-magnets,utilizes the electromagnetic suction to change the centroid of the spherical robot,finish advancing the function under the action of gravity;Make the electro-magnet rotate to realize the transformation function of the robot by the combination of A stepper motor drive and bevel gears rotate electromagnet turn.In the course of using doesn＇t need to open of spherical robot,so as to ensure the sealing of spherical robot,and the balance of spherical robot always overcomes overturned or fall,not passive friction wheel,high efficiency.