| 简化球形机器人的设计与实验 |
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| 引用本文： | 粱焜,杨玉蕾,王振华,李少斌,杨忠,董荣俊. 简化球形机器人的设计与实验[J]. 应用科技, 2011, 38(11): 26-29 |
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| 作者姓名： | 粱焜 杨玉蕾 王振华 李少斌 杨忠 董荣俊 |
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| 作者单位： | 南京航空航天大学自动化学院,江苏南京,210016 |
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| 基金项目： | 南京航空航天大学研究生创新基地(实验室)开放基金资助项目(201001009) |
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| 摘 要： | 针对常规球形机器人存在的机械结构复杂、缺乏稳定平台等问题,设计了一种简化的球形机器人机械结构,同时为扩充机载设备搭建了稳定的平台,对球形机器人的设计方案进行了基于Lagrange -Routh方程方法的动力学建模,利用Matlab/Simulink对已有的球形机器人数学模型进行了仿真和简要分析.结合系统的硬件装配,分别对球形机器人直线行走、爬坡等动作进行了初步实验.实验表明,新型简化的球形机器人机械结构能够完成既定行走指令,为进一步的应用推广奠定了基础.
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| 关 键 词： | 球形机器人 简化结构 Lagrange-Routh Simulink仿真 实验 |
Design and experiments on a simplified spherical robot |
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| LIANG Kun , YANG Yulei , WANG Zhenhua , LI Shaobin , YANG Zhong , DONG Rongjun. Design and experiments on a simplified spherical robot[J]. Applied Science and Technology, 2011, 38(11): 26-29 |
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| Authors: | LIANG Kun YANG Yulei WANG Zhenhua LI Shaobin YANG Zhong DONG Rongjun |
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| Affiliation: | LIANG Kun,YANG Yulei,WANG Zhenhua,LI Shaobin,YANG Zhong,DONG Rongjun (College of Automation Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China) |
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| Abstract: | Conventional spherical robots have the problems complex mechanical structure,lack of a stable platform and other obvious problems.To overcome these shortcomings,a simplified mechanical structure of spherical robot was designed,and a stable platform for expansion of on-board device was built.A dynamic model was built on the design scheme of the spherical robot based on Lagrange-Routh equations,and Matlab / Simulink was used to simulate and analyze the existing mathematical model of the spherical robot.By com... |
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| Keywords: | spherical robot simplified structure Lagrange-Routh Simulink |
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