| 球形机器人动力学建模及运动特性分析 |
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| 引用本文： | 郑一力,孙汉旭.球形机器人动力学建模及运动特性分析[J].机械设计,2012,29(2):25-29. |
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| 作者姓名： | 郑一力 孙汉旭 |
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| 作者单位： | 1. 北京林业大学工学院,北京,100083
2. 北京邮电大学自动化学院,北京,100876 |
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| 基金项目： | 北京林业大学新进教师科研启动基金资助项目，中央高校基本科研业务费专项基金资助，国家自然科学基金资助项目 |
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| 摘 要： | 利用凯恩方法建立了非理想条件下球形机器人的动力学模型。分析了关节摩擦、滚动摩阻力矩、球壳不圆对球形机器人运动特性的影响,给出了球形机器人运动过程中球壳打滑问题产生的原因,仿真结果为球形机器人控制策略和机械设计提供了理论依据。
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| 关 键 词： | 球形机器人 动力学 凯恩方法 |
Dynamic modeling and kinematics characteristic analysis of spherical robot |
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| ZHENG Yi-li
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SUN Han-xu.Dynamic modeling and kinematics characteristic analysis of spherical robot[J].Journal of Machine Design,2012,29(2):25-29. |
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| Authors: | ZHENG Yi-li SUN Han-xu |
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| Affiliation: | 1.School of Technology,Beijing Forestry University,Beijing 100083,China;2.School of Automation,Beijing University of Posts and Telecommunications,Beijing 100876,China) |
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| Abstract: | Based on the Kane′s method,the dynamic model of the spherical robot in non-ideal condition is developed;the effect of the joint friction,rolling resistance torque and out-of-roundness of the shell on the kinematics characteristics of the robot are analyzed;the cause of the shell-slippage problem during the moving of the spherical robot is given;the theoretical basis of the control strategies and mechanical design for the spherical robot is provided by the simulation result. |
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| Keywords: | spherical robot dynamics Kane′s method |
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