双轮驱动球形机器人的动力学建模与仿真

Dynamic Modeling and Simulation of Spherical Robot Driven by Two Wheels

针对用于电缆通道环境监测的双轮驱动球形机器人,基于拉格朗日方程实现其动力学建模。通过驱动车轮的转角、球形机器人两自由度位置坐标、驱动车体的姿态角直观的计算出系统的动能和势能;考虑球形机器人位置坐标、驱动车体姿态角、球形机器人运动方向角和左右驱动车轮的转角的约束关系,选择左右驱动车轮的转角、球形机器人的移动距离、驱动车体的姿态角作为广义坐标;考虑驱动车轮和球壳、球壳与地面的摩擦得到系统的广义力和耗散能量,建立了能够描述双轮驱动球形机器人在二维水平面运动、驱动车体姿态的多体动力学。最后,在Matlab/Simulink环境中开展了模型的仿真分析,仿真结果表明所建模型的有效性。

Based on Lagrange equations, a dynamic model is derived for two-wheels-driven spherical robot for environment monitoring of power cable tunnel. According to the angles of the driven-wheels, two-degree position coordinates, posture angle of inner driven body, the kinematic energy and potential energy are calculated straightforwardly. By considering the constrains among position coordinates of the spherical robot, posture angle of inner driven body, moving direction of the spherical and angles of left and right driven-wheels, the general coordinates are selected as the angles of left and right driven-wheels, motion distance, and posture angle of inner driven body. By considering the friction between driven wheels and spherical shell, friction between the spherical shell and ground, the general forces and dissipative energy. A multi-body dynamics of the spherical robot driven by two wheels is accomplished which can illustrate two-degree plane motion and posture of the driven body. Finally, simulations were performed based on Matlab/Simulink, and simulation results demonstrate the effectiveness of the dynamic model.