三驱动球形机器人的结构设计与运动分析

Structure Design and Motion Analysis of Three Drive Spherical Robot

设计了一种可靠性更高的三驱动单摆式球形机器人,工作过程中,当其中一个驱动电机发生故障时,其余两个驱动电机仍可以相互配合实现全向运动,有效地提高了球形机器人工作的可靠性。该球形机器人的三个驱动电机能够两两配合提供两种运动方式,其中一种运动方式根据角动量守恒定律可以实现机器人的原地零半径转向,使运动更加灵活。

A three-drive pendulum spherical robot with higher reliability is designed,and when one of the drive motors fails during the working process,the other two drive motors can still cooperate with each other to achieve omnidirectional motion,which effectively improves the reliability of the ball robot.The three drive motors of the spherical robot can cooperate in pairs to provide two movement modes.According to the law of conservation of angular momentum,one of the motion modes can realize the zero-radius pivot steering of the robot,making the motion more flexible.