全方位移动式网球机器人的研究与设计

Design and research of omnidirectional tennis robot

针对普通网球发球机只能发球而不能将球击回模拟与网球运动员完成对练的问题,初步设计了一种全方位移动式的网球机器人。机器人底盘采用了三轮式全向轮系结构,可实现在场地上任意方向的移动以及零半径转弯;设计了击球机构、收球机构与发球机构,击球机构由一个三自由度的机械手组成,每个自由度用一个单独的伺服电机驱动,以实现不同角度与不同力度的发球与击球,从而达到模拟人的发球与击球动作的设计目标;采用了DSP为主控芯片,以双摄像机组建网球跟踪系统,将底盘运动控制与击球动作控制作为一个整体的六轴系统进行控制,从而适应网球运动中场上方位与球拍姿位的协调性要求。采用三维软件Solidworks对机器人的击球动作进行了仿真分析。仿真结果表明,该机器人能够实现对来自不同角度的网球进行回击。

Aiming at realizing the high interactive performance between athlete and the tennis machine. A prototype of an omnidirectional tennis robot was designed. Three omnidirectional wheels driven by high performance DC servo motors were installed in its chassis so that this robot can move in any direction in the playground and turning in radius of zero. Ball- hitting mechanism,ballcollecting mechanism and ball-serving mechanism were equipped in this robot. The ball-hitting mechanism was consisting of a tennis bat and a 3-DOF robotic arm. A bi-camera tracking system was introduced in order to track the tennis ball and realize the interaction between athlete and the robot. The robot with its movements realized by a 6-axis system was controlled by a high performance DSP processing unit. A simulation process was conducted in Solidworks 2012 to check the movements of this robot. The simulation results indicate that the tennis from any angle can be hit back by this robot successfully。