内外驱动兼备的球形机器人结构设计

Structural design of the internal and external driven spherical Robots

球形机器人是机器人运动方式的突破,其最大的特点是运动方式特殊,球形的外壳将使机器人能在失稳后获得最大的稳定性,球形机器人能用最少的自由度以欠驱动的方式实现全方位运动。针对目前球形机器人能源供给问题,提出一种内外驱动兼备的充气球式球形机器人,以外部自然风力为主要驱动力、内部电机驱动为辅助动力,兼具外部风能驱动和内部电机驱动的优点,较好地解决能源供给和自主运动的问题。通过对运动原理和设计方案的分析研究,完成球形机器人的结构模型及主要零部件设计。

Spherical robot is breakthrough in robot motion mode,its motion is special.It is stable by its spherical shell.Underactuated spherical robot could achieve all-round movement by the least degree of freedom.In view of present spherical robot energy supply problems,put forward a kind of inside and outside driving inflatable ball type spherical robot,to the external natural wind as the main driving force,internal motor drive for auxiliary power,both external and internal wind driven motor drive advantages,better solve the problem of energy supply and the independent motion problems.By the analysis of principles of movement and design scheme,it can complete the design of structural model and main parts.