直线电机驱动的全向滚动球形机器人的设计与分析

提出了一种内置稳定平台的新型全向滚动球形机器人装置，由外球壳、内球壳、位于内球壳中的稳定平台、位于内外球壳之间的驱动机构组成。驱动机构为四台直线电机分别在四个空间对称的轮辐上径向移动，改变系统重心位置，驱动球形机器人在平面上全向滚动。内置平台在机器人全向滚动过程中始终保持稳定的姿态，可作为仪器、设备的搭载平台。基于非完整约束和动量矩定理，考虑摩擦力的影响，利用广义欧拉角给出了其二阶控制微分方程组，建立了该球形机器人的运动学和动力学模型，最后结合实例进行了分析和仿真。

Design and Analysis of a Spherical Omnidirectional Rolling Robot Driven by Linear Motors

A novel spherical omnidirectional rolling robot with a built-in stable platform is presented, which is consists of an outer and an inner spherical shells, a stable platform inside the inner spherical shell, and the locomotion mechanisms between the inner and outer spherical shells. The locomotion mechanisms are four linear motors move in- ward and outward respectively along four spokes with geometrical symmetry in three dimensional space, which will cause the robot to roll in all directions on a flat surface by displacing its gravity center. The stable platform does not ro- tate and keeps a stable stance when the outer spherical shell is rolling in any direction, and can carry sensing devices or actuators. Then the second-order control differential equations including the effect of frictional force were derived from theorem of moment of momentum and the nonholonomic constraint using the generalized Euler angles, the kinematic and dynamic model of the robot was established. Finally, the analysis and simulation of the spherical robot were developed with numerical examples.