【作者】 李晓锋；

【导师】 朱东波； 李团结；

【作者基本信息】 西安电子科技大学 ， 机械制造及其自动化， 2009， 硕士

【摘要】 球形机器人是一种新型的移动机器人,具有球形外壳,能够在失稳后获得最大的稳定性,不怕翻倒,可以实现全向滚动,转弯更加灵活。球形机器人是传统机器人运动方式的突破,是移动机器人研究领域的热点问题之一。目前的球形机器人大多为内部驱动,很难解决能源供给问题。为此,本文提出了一种内外驱动兼备的球形机器人,并对其进行了结构设计、越障性能分析、运动学和动力学分析方面的研究。首先介绍了球形机器人的发展现状,给出了目前球形机器人研究中遇到的主要问题。通过应用机器人重心偏移力偶驱动的方法,设计了一种内外驱动兼备的球形机器人装置。该球形机器人以外部风能驱动为主,以球体内部电机驱动为辅。运用空气动力学和静力学理论建立了机器人的静力学平衡方程,根据力矩平衡原理建立了描述该球形机器人越障运动性能的约束方程,得出了风速、地形倾角、障碍物高度、球体尺寸及重量等各物理参数之间的函数关系。基于广义欧拉角描述球形机器人的坐标变换,运用系统的动量矩定理,建立了球形机器人的运动模型。基于Lagrange-Routh方程和非完整约束理论,建立了该机器人平面运动的动力学模型,推导出了机器人的动力学运动微分方程。编制了运动分析程序,并进行了计算机仿真分析。最后,制作了内外驱动兼备的球形机器人的样机,通过样机测试,得到了一些实验数据,对机器人运动模型的正确性进行了验证。更多还原

【Abstract】 Spherical robots are a new type of mobile robots with a global shell, and it can obtain the great steady ability after being imposed a disturbance, achieve the omnidirectional rolling, swerve agilely and never overturn. Being a breakthrough of the motion modes of traditional robots, spherical robots are one of the sbjects in great demand for the mobile robots’ research.At present, much of spherical robots are driven by inside drive units that are difficult to solve the problem of supplying the enough power source for the robots system. In this paper, a kind of internal and external driven spherical robot is presented and its structural design, performance of overcoming obstacles, kinematics and dynamics analysis are mainly studied.At the beginning, the status in quo of the research on spherical robots was stated and the existing main problems followed. Then the internal and external driven spherical robot was chosen as the studied object. The spherical robot was designed based on the method of applying the robot-driven force couple caused by offseting the gravity center. And, it was driven mainly by the external wind force and had the internal motor as its sub-drive impetus. Using the theory of aerodynamics and statics, the static equilibrium equation of the spherical robot was built. According to the theory of moment balance, the constraint equations that described the performance of overcoming obstacles for the spherical robot was developed. With these equations, wind velocity, the slope angle of the terrain, the height of obstacles, the size and weight of the sphere and the ball-ground contact area were determined to be associated each other by some functions. Moreover, basing on the spherical robot’s coordinate conversion described by the generalized Euler angles, its motion model was developed by using of the theorem of momentum moment. The dynamics model of the robot on a plane were established by using the theory of nonholonomic constraints and Lagrange-Routh equations. From this, the differential equations of dynamics for the robot motioning were deduced and the motion analysis programmes were composed. Several typical motion cases of the robot were illustrated and simulated by computer. Finally, the prototype of the internal and external driven spherical robot was produced. Several tests were made and obtained some experimental data. So, the correctness of the robot’s motion model has been verified.更多还原