摘要
提出了一种采用双齿轮齿条传动机构的新型球形机器人设计方案,该方案在球形机器人同一直径方向上安装两组齿轮齿条传动机构作为内部驱动装置,论文详细介绍了该球形机器人的机械结构,并通过受力分析对其直线运动和转弯运动的运动原理进行了理论分析。联合使用SOLIDWORKS和ADAMS,建立了球形机器人的虚拟样机并进行运动仿真。受力分析和运动仿真结果验证了该球形机器人结构的可行性,为物理样机后期制作提供依据。
The design of a new spherical robot driven by double gear rack transmission mechanisms is proposed. As the driving mechanism inside, two sets of gear rack transmission mechanism are installed along the same radial direction of the spherical robot. And the force analysis is given for the straight motion and turning movement of the robot. The modeling of the virtual prototype and motion simulation of the spherical robot is developed by using SOLIDWORKS and ADAMS. Its force analysis and motion simulation verified the feasibility of structure of spherical robot. This work provides reliable references for the development of the physical prototype.
出处
《软件》
2017年第10期23-28,共6页
Software
基金
国家自然科学基金资助项目(51365019)
