一种新型球形机器人的结构设计

Structural Design of a New Kind of Spherical Robot

针对目前球形机器人存在的结构复杂,控制困难等问题。在基于重心偏摆与力矩复合驱动的原理上,文章设计了一款控制配重块摆动的新型遥控球形机器人,重点分析其运动原理,建立系统的数学模型,并制作了一台样机。实验测试表明:该球形机器人的结构简单,可实现沿任意曲率的曲线运动以及任意转向的控制,且定位性能和复位性能好。

Conventional spherical robots have the problems of complex structure and difficult control. To overcome these shortcomings,a newkind of remote control spherical robot by controlling the counterweight swing was designed,which driven by composite of gravity deviation and inertial moment. Its motion principle was analyzed and the mathematical model of the system was created. Furthermore,a prototype of this kind spherical robot was manufactured. The experimental results showthat the structure of the spherical robot is simple. It can move along arbitrary curvature curve and arbitrary steering. Furthermore,it can achieve better localization performance and reset property.