摘要
带有可伸缩臂的球形机器人不仅能实现全方位行走,又具有对外界环境的操作能力,是一个新颖的课题。对球形机器人力学建模是运动状态分析和控制系统设计的基础。笔者针对一种新颖的带有可伸缩臂的球形机器人结构,采用Kane方法,考虑非完整约束条件建立了该系统的动力学模型。对球直线行走与S曲线行走时各关节力/力矩以及球壳欧拉角进行了仿真分析,分析结果表明合理规划球的行走轨迹,将极大地削弱球壳运动对两侧球冠与臂杆的各关节力/力矩扰动。
For realizing omni-direction movement and operation task,a novel structure of spherical robot with retractable arms was proposed in this paper. First,considering the conditions of nonholonomic constraints,the dynamic model of the system was derived with Kane＇s equation. Then,rectilinear motion and sigmoid curve motion of the robot was simulated with both Matlab and ADAMS. After that,joints forces/torques and Euler angles of the robot were analyzed respectively. The simulation results show that when the sphere is moving,disturbance forces or torques on each joint are not zero. In conclusion,with rational planning trajectory of the robot,there will be a great decrease of the disturbance forces or torques acting on the spherical caps and arms. The result is helpful for trajectory planning and motion control of the robot.
出处
《机械科学与技术》
CSCD
北大核心
2010年第8期1035-1041,共7页
Mechanical Science and Technology for Aerospace Engineering
基金
国家高技术研究发展计划(863计划)项目(2006AA04Z243)资助
