双驱动球形机器人的结构设计与分析

本文设计了一种球形机器人,它是通过重心驱动和角动量驱动来实现球体的滚动。机器人的动力部分主要由两个驱动电机和一个转向电机组成,三个电机处于同一水平面上。通过两个驱动电机实现了球形机器人前后向的运动,通过转向电机实现左右转向,包括原地的自转。

Structure Design and Analysis of Dual-Drive Spherical Robot

In this paper, a spherical robot is designed, which is driven by the center of gravity and angular momentum to achieve the rolling of the ball. The power part of the robot is mainly composed of two driving motors and a steering motor. The three motors are on the same horizontal plane. The forward and backward motion of the spherical robot is realized by two driving motors, and the left and right steering is realized by the steering motor, including the rotation in place.