| 一种全向滚动球形机器人运动结构的创新设计 |
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| 引用本文： | 聂志萍,董万福.一种全向滚动球形机器人运动结构的创新设计[J].成都大学学报(自然科学版),2009,28(1):63-65. |
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| 作者姓名： | 聂志萍 董万福 |
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| 作者单位： | 成都大学,工业制造学院,四川,成都,610106 |
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| 摘 要： | 介绍了一种可实现全向运动的球形机器人系统，通过变异创新的方法扩大两垂直交叉的回转运动副，将偏心质量包围在其内部，且由于两垂直交叉运动副是完全彼此独立的，使其完全真正实现平面二维无限制自由运动，从而实现球形机器人沿任意方向的运动．同时，利用非完整系统力学理论对球形机器人运动学进行了初步分析，为进一步的动力学分析奠定了基础．
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| 关 键 词： | 球形机器人 偏心质量 全向运动 运动学分析 |
Innovation Design of a Spherical Omnidirectional Rolling Robot Movement Structure |
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| NIE Zhiping,DONG Wanfu.Innovation Design of a Spherical Omnidirectional Rolling Robot Movement Structure[J].Journal of Chengdu University (Natural Science),2009,28(1):63-65. |
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| Authors: | NIE Zhiping DONG Wanfu |
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| Institution: | (School of Industry Manufacturing, Chengdu University, Chengdu 610106, China) |
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| Abstract: | The spherial robot of one kind of mechanical system which may realize the omnidirectional movement.It is through the variation innovation method,expands two square crossing gyroscopic motion.By the variation innovation method,it expands two square crossing gyroscopic motion,and surrounds the eccentric quality in its.Because two square crossing gym suits are each other completely independent,truly it realize the plane twodimensional unlimited free motion.It may be suitable for each kind of different geographical environment completely.The spherial robot is based on a nonholonomic system.Preliminary analysis and research is made on the spherical robot using nonholonomic system theory of mechanics.It has laid the foundation for the further dynamics analysis. |
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| Keywords: | spherical robot barycenter omnidirectional movement preliminary analysis |
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