Analysis of moving capability of a spherical mobile robot
-
摘要: 球形移动机器人的特殊结构使之非常适合在缺少人为干预的恶劣环境(如外星球、野外等)中应用,在此类的环境中,机器人的运动性能是决定机器人能否顺利完成预定任务的关键.介绍了BHQ-1G型球形移动机器人的结构,采用几何法和拉格朗日方程建立了该球形移动机器人的模型,并对它的直线运动、爬坡能力、越障、转弯半径等运动性能进行了具体的分析,证明了该设计的可行性并确定了影响该机器人运动性能的参数.该分析结果可用于BHQ-1G机器人的优化设计和样机研制.Abstract: The special structure of spherical mobile robots makes them very suitable to be used in harsh environments where human interventions are hard to reach, such as outer planets and fields. When a spherical mobile robot moves in such environments, moving capability is a key to decide whether the robot can successfully finish given tasks. BHQ-1G, a spherical mobile robot, was introduced.The kinematic and dynamic model of the robot were built with geometry method and Lagrange equation. Its moving capability such as moving in straight line, slope climbing, obstacle climbing and turning radius, etc., were analyzed thoroughly. The analysis results not only demonstrate the feasibility of the design and determine some factors that can affect the moving capability of BHQ-1G, but also can be used to do the optimum design and prototype development of the robot.
-
Key words:
- spherical mobile robot /
- moving capability /
- obstacle climbing
-
[1] Halme A, Schonberg T, Wang Y. Motion control of a spherical mobile robot . In:4th IEEE International Workshop on Advanced Motion Control AMC’96 . Japan:Mie University, 1996. 100~106 [2] Francois Michaud, Serge Caron. Roball:the rolling robot[J] Autonomous Robots, 2002, 12(2):211~222 [3] Antonino Bicchi, Andrea Balluch. Introducing the "SPHERICLE":an experimental testbed for research and teaching in nonholonomy . In:Proceedings of the 1997 IEEE Int Conf on Robotics and Automation . New Mexico:IEEE,1995. 2620~2625 [4] Homayoun A, Javadi A, Mojabi P. Introducing august:a novel strategy for an omnidirectional spherical rolling robot . In:Proc IEEE Int Conference on Robotics and Automation . Washington:IEEE, 2002.3527~3533 [5] 肖爱平,孙汉旭,廖启征. 一种球形机器人的设计与原理分析[J] 机电产品开发与创新,2004,17(1):14~16 Xiao Aiping, Sun Hanxu, Liao Qizheng. The design and analysis of a spherical mobile robot[J] Development & Innovation of Machinery & Electrical Products, 2004, 17(1):14~16(in Chinese) [6] 战 强. 一种新型的月球探测车运动机构 . 见:第二届月球探测技术研讨会论文集 . 北京:清华大学出版社,2001.328~330 Zhan Qiang. A new type of moving mechanism of lunar vehicles . In:The Second Symposium on Moon Exploring Technology . Beijing:Tsinghua University Press, 2001.328~330(in Chinese) -
点击查看大图
计量
- 文章访问数: 3719
- HTML全文浏览量: 225
- PDF下载量: 1274
- 被引次数: 0
下载:
