基于虚拟样机技术的球形机器人运动仿真研究

使用UGNX和ADAMS,研究了一种具有稳定平台的、非完整的全向滚动球形机器人的虚拟样机建模和运动仿真。通过对球形机器人虚拟样机模型的转化,解决了ADAMS软件不支持球壳与平面间的约束,无法模拟球壳在平面上滚动的问题。结合典型实例,对球形机器人的运动情况进行了仿真。仿真结果表明该球形机器人的内置稳定平台在球体全向滚动过程中始终保持稳定的姿态,而不随球体一起滚动。这为物理样机的研制提供了可靠的参考依据。

Research on Motion Simulation of Spherical Robot Based on Virtual Prototype Technology with ADAMS

Using UG NX and ADAMS,the modeling of the virtual prototype and motion simulation of a nonholonomic spherical omnidirectional rolling robot with a stable platform were developed.The problem that ADAMS could not simulate a spherical shell rolling on a plane because ADAMS could not provide the constraint between them wassettled through the model transformation of the virtual prototype presented.The robot motion was simulated by some typical numerical examples.The simulation results indicate the stable platform existing inside the spherical robot does not rotate and keeps a stable stance when the spherical robot is rolling in any direction.This work provides reliable references for the development of the physical prototype.