轮式足球机器人加速性能研究

轮式机器人的惯性造成机器人以较高加速度和速度运动时的平稳性不好,运动准确性不高。机器人在各个轮子上的重力分量是机器人的结构和轮子布局参数、质量、加速度、重心高度的函数;合理的机器人结构和轮子布局、降低机器人的质量、降低重心的高度,可以提高加速过程中机器人在各个轮子上的重力分布的均匀性,从而提高加速过程的平稳性。轮式足球机器人的加速度在不同方向数值大小是不同的。机器人转动过程引起的运动偏差比平动过程更严重。

Accelerating Performance of A Wheeled Soccer Robot

Inertia of a wheeled robot brings about bad stability and movement accuracy when it moves at higher acceleration and speed.The weight component on each wheel is function of the wheel geometry,number of wheels,mass of the robot and height of the center of gravity.It is desirable to have equal weight on each wheel,which is achieved by laying out the wheels reasonably,decreasing the mass of robot and lower the height of the center of gravity.The robot is able to accelerate much faster in some direction than in others.Analysis shows that rotation error of a robot is much more severe than translation error.