二驱动球形机器人的全方位运动特性分析

介绍一种新型二驱动球形机器人,它使用两个电机作为输入,而球形机器人在平面运动具有三个自由度,所以属于非完整欠驱动系统.内驱动机构通过改变配重重心的位置实现了球形机器人沿任意方向的运动,且球形机器人的位姿影响了球形机器人沿不同方向运动的灵活性.阐述了它的结构特点,利用非完整系统力学理论对球形机器人运动学、动力学进行了初步分析.采用欧拉角和三维转动群知识对球形机器人的全方位运动学特性进行了分析.

Omnidirectional kinematics analysis on bi-driver spherical robot

Anewtype of mobile spherical robots , which are based on a nonholonomic systemand takes twomotors as impetus sources , was developed. The developed spherical robot has only two input parameters while asphere rolling on a plane has three degrees of freedom,thus the spherical robot is under actuated. When its IDU(inside drive unit) changes the position of the barycenter of weights by uses two motors as impetus ,it can realizeany omnidirectional movement and moveina arbitrary direction withzeroturningradius .The under-actuated designscan makethe structure simpler while makingthe physical layout more complicated.The omnidirectional movement ofthe spherical robot varies with different positions and inclinations between the long axis and the vertical line .Thearchitectural feature of this robot were analyzed.Preliminary analysis and research was made on spherical robot ki-nematics and dynamics by using nonholonomic systemdynamics ,and based onthe concerned knowledge suchas Eu-lerian angle andthree-dimensional rotation-group.