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�������պ����ѧѧ�� 2005, Vol. 31 Issue (07) :735-739    DOI:
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�ﺺ��1, Ф��ƽ1, ������2, ������2*
1. �����ʵ��ѧ �Զ���ѧԺ,���� 100876;
2. �������պ����ѧ ��е���̼��Զ���ѧԺ, ���� 100083
Omnidirectional kinematics analysis on bi-driver spherical robot
Sun Hanxu1, Xiao Aiping1, Jia Qingxuan2, Wang Liangqing2*
1. Automation School, Beijing University of Post and Telecommunications, Beijing 100876, China;
2. School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100083, China

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Abstract�� A new type of mobile spherical robots, which are based on a nonholonomic system and takes two motors as impetus sources, was developed. The developed spherical robot has only two input parameters while a sphere 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 realize any omnidirectional movement and move in a arbitrary direction with zero turning radius. The under-actuated designs can make the structure simpler while making the physical layout more complicated. The omnidirectional movement of the spherical robot varies with different positions and inclinations between the long axis and the vertical line. The architectural feature of this robot were analyzed. Preliminary analysis and research was made on spherical robot kinematics and dynamics by using nonholonomic system dynamics, and based on the concerned knowledge such as Eulerian angle and three-dimensional rotation-group.
Keywords�� robot   under-actuated   nonholonomics     
Received 2004-10-30;

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About author: �ﺺ��(1960-),��,����������,����, hxsun@bupt.edu.cn.
�ﺺ��, Ф��ƽ, ������, ������.���������λ����˵�ȫ��λ�˶����Է���[J]  �������պ����ѧѧ��, 2005,V31(07): 735-739
Sun Hanxu, Xiao Aiping, Jia Qingxuan, Wang Liangqing.Omnidirectional kinematics analysis on bi-driver spherical robot[J]  JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND A, 2005,V31(07): 735-739
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