一款微小型球形机器人的动力学分析

Dynamics analysis of a micro-spherical robot

摘要:

利用拉格朗日方程等力学手段,分析了一款微小型球形机器人滚动和转动的运动特点,以及跳跃运动的起跳条件.分析该类机器人的进动形式的运动形态,建立了整合运动的通用动力学模型,实现了机器人沿任意曲线运动.对机器人进行了虚拟样机仿真,实验验证了上述分析的正确性.该研究为机器人非线性控制打下了基础.

Abstract:

Using Lagrange equation and other mechanics methods,this paper analyzes the motion characteristics of rolling and turning of a micro-spherical robot,and achieves the conditions of jumping.A general dynamics model is built based on the analysis of characteristics of precession,which can make the robot roll along any curve.A virtual prototype of the spherical robot is developed,and the motion simulation is conducted.The result verifies the correctness of above analysis.The work in this paper establishes the foundation for further research on nonlinear control of spherical robot.