一种全向滚动球形机器人的动力学建模与仿真

设计了一种全向滚动球形机器人装置,对其在斜面上的动力学分析与仿真进行了研究。根据机器人所受的非完整约束,建立了其运动学模型。根据机器人的结构特征和Lagrange-Routh方程,建立了其动力学模型,给出了消去未知Lagrange乘子的方法。得到了该球形机器人的完整动力学模型。然后应用MATLAB中的SIMULINK工具和S函数,建立了描述该球形机器人完整动力学方程的仿真模型。结合运动实例进行了机器人的动力学分析和仿真,结果表明了动力学模型的正确性和分析方法的有效性。

Dynamic Modeling and Simulation of Spherical Omnidirectional Rolling Robot

A novel spherical omnidirectional rolling robot was proposed. The dynamic analysis and simulation of the robot on a slope were developed. The kinematic model for the spherical robot was established according to the nonholonomic constraint acting on it. On the basis of its structural characteristics,its dynamic model was derived applying the Lagrange-Routh equations. A method was given to eliminate the unknown Lagrange multipliers. A complete dynamic model for the spherical robot was obtained. Then using the Simulink tools and S-function in MATLAB,a simulation model that described the complete dynamic equations of the robot was established. The motion examples were given to illustrate the dynamic analysis and simulation of the spherical robot. The results demonstrate the validity of the model and the effectiveness of the analysis method.