双轮驱动足球机器人动态性能分析

双轮式足球机器人在比赛过程中要频繁启、停和加、减速 ,经常以较高速度完成直行或曲线运动 ,每秒钟至少要调整 30次位姿 ,因此应该具有很好的动态性能。本文从分析足球机器人受力出发 ,建立了足球机器人动态性能分析模型 ,分析了影响足球机器人动态特性的各种因素 ,得出了一系列有价值的结论 ,为设计高性能足球机器人提供了理论依据 ,对小车的合理使用也具有指导价值。

Analysis of Dynamical Performance of a Two-Wheel Soccer Robot

Soccer robot needs to start and to stop frequently during the match. It should repeatedly accelerate and decelerate. It must adjust its position and orientation at least thirty times per second. For all these reasons, soccer robot must possess good dynamical performances. By analyzing the forces exerted on the robot, equations about the dynamical performances are derived in the paper. The factors influencing its dynamical properties are analyzed and some valuable conclusions are obtained. To make the robot start rapidly, the radius of the driving wheel should be properly big and the output torque of the motor be large. The start acceleration should not be greater than half a gravity acceleration. The speed should not be too high in order to avoid side slide during curvilinear movement.