滚-跳多运动模式球形机器人的动力学仿真研究

复杂的探索环境对探测机器人的通行能力提出了更高要求，具有多种运动模式的球形机器人是探测机器人领域的研究热点之一。通过对球形机器人内部构件质量分布的调节，设计了一种基于单摆驱动式的滚-跳多运动模式球形机器人，其具有滚动、转向、爬坡与跳跃4种基本运动能力；随后，又根据球形机器人的设计方案建立了球形机器人4种基本运动动力学方程。利用Automatic Dynamics Analysis of Mechanical Systems （ADAMS）软件构建该球形机器人虚拟样机并对其进行了滚动、转向、爬坡与跳跃的动力学仿真，最后以此为依据计算滚动、转向、爬坡与跳跃运动性能的仿真值，并制作实验室样机验证了动力学仿真的正确性。

Dynamic simulation of a rolling and jumping compound motion spherical robot

A complex exploration environment requires higher traffic capacity for an exploration robot. A spherical robot with a compound motion is one of the research hotspots in the field of exploration robots. A spherical robot with a rolling and jumping compound motion mode driven by a single pendulum has been designed by adjusting the mass distribution of its internal components. The spherical robot has four basic motion abilities:rolling, turning, climbing and jumping. According to the design scheme of the spherical robot, the dynamic equations of the four basic motions of the spherical robot have been established. A virtual prototype of the spherical robot has been constructed and the dynamic simulation of rolling, turning, climbing and jumping carried out using Automatic Dynamics Analysis of Mechanical Systems (ADAMS). A spherical laboratory-scale robot prototype has been manufactured and its motion performance test results are in accordance with the dynamic simulation results.