Volume 31 Issue 07
Jul.  2005
Turn off MathJax
Article Contents
Sun Hanxu, Xiao Aiping, Jia Qingxuan, et al. Omnidirectional kinematics analysis on bi-driver spherical robot[J]. Journal of Beijing University of Aeronautics and Astronautics, 2005, 31(07): 735-739. (in Chinese)
Citation: Sun Hanxu, Xiao Aiping, Jia Qingxuan, et al. Omnidirectional kinematics analysis on bi-driver spherical robot[J]. Journal of Beijing University of Aeronautics and Astronautics, 2005, 31(07): 735-739. (in Chinese)

Omnidirectional kinematics analysis on bi-driver spherical robot

  • Received Date: 30 Oct 2004
  • Publish Date: 31 Jul 2005
  • 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.

     

  • loading
  • [1] alme Aarne, Suomela Jussi, Schōnberg Torsten, et al. Motion control of a spherical mobile robot[A] In:4th IEEE International Workshop on Advanced Motion Control AMC’96[C] Japan:Mie University,1996 [2] icchi A, Balluchi A, Prattichizzo D,et al. Introducing the spherical:an experimental testbed for research and teaching in nonholonomy[A] In:Proc IEEE Int Conf on Robotics and Automation[C] 1997 [3] erriere L, Raucent B, Campion G. Design of omnimobile robot wheels[A] In:Proc IEEE Int Conf on Robotics and Automation[C] 1996.3664~3670 [4] hattacharya S, Agrawal S K. Spherical rolling robot:a design and motion planning studies[A] In:Proc IEEE Int Conf on Robotics and Automation[C] 2000 [5] omayoun A, Javadi A, Mojabi P. Introducing august:a novel strategy for an omnidirectional spherical rolling robot[A] In:Proc IEEE Int Conf on Robotics and Automation[C] 2002 [6] 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) [7] 爱平,孙汉旭,谭月胜,等. 一种球形机器人运动轨迹规划与控制[J] 器人,2004,26(5):444~447Xiao Aiping, Sun Hanxu, Tan Yuesheng, et al. Movement trajectory planning and control for a spherical robot [J] Robot, 2004,26(5):444~447(in Chinese) [8] 凤翔. 非完整系统力学基础[M] 北京:北京工业学院出版社, 1985.30~31Mei Fengxiang. Basic of nonholonomic system dynamics[M] Beijing:Press of Beijing college of technology,1985. 30~31(in Chinese)
  • 加载中

Catalog

    通讯作者: 陈斌, bchen63@163.com
    • 1. 

      沈阳化工大学材料科学与工程学院 沈阳 110142

    1. 本站搜索
    2. 百度学术搜索
    3. 万方数据库搜索
    4. CNKI搜索

    Article Metrics

    Article views(3172) PDF downloads(1569) Cited by()
    Proportional views
    Related

    /

    DownLoad:  Full-Size Img  PowerPoint
    Return
    Return