智能一体化乒乓球陪练机器人结构设计

Structural Design of Intelligent Lntegrated Table Tennis Sparring Robot

文章主要设计制造了一种多功能乒乓球发球机器人,创新性地采用变胞机构实现常规乒乓球发球机难以达到的墙角、墙边拾球功能。文中主要论述机器人的机械结构、工作方式及控制系统。机器人由四大系统即收球、运输、发球装置组成,动力系统以麦克纳姆轮作为主要动力元件。收球方式上,利用三叶板与挡板相结合,在不同情况下采用不同方式进行收球,可以做到特殊位置球的收集。发球方式的多样化由摩擦轮转速及升降平台共同决定,实现不同强度的训练。

This paper mainly designs and manufactures a multifunctional table tennis service robot.We innovatively use the metamorphic mechanism to complete the function of picking up the ball at the corner and the edge of the wall,which is difficult to achieve by conventional table tennis server.This paper mainly discusses the mechanical structure,working mode and control system of the robot.It is composed of four major systems,namely ball collection,transportation and service devices.The power system is made of Mecanum wheel as the main power element.In the way of collecting the ball,the combination of the three-blade plate and the baffle plate is used to collect the ball in different ways under different circumstances,so that the collection of the ball in a special position can be achieved.The diversification of serving methods is jointly determined by the rotational speed of the friction wheel and the lifting platform to achieve different intensities of training.