二驱动球形机器人的全方位运动特性分析  

Omnidirectional kinematics analysis on bi-driver spherical robot

作　　者：孙汉旭[1] 肖爱平[1] 贾庆轩[2] 王亮清[2] 

机构地区：[1]北京邮电大学自动化学院,北京100876 [2]北京航空航天大学机械工程及自动化学院,北京100083

出　　处：《北京航空航天大学学报》2005年第7期735-739,共5页Journal of Beijing University of Aeronautics and Astronautics

基　　金：国家自然科学基金资助项目(50175005);教育部科学技术研究基金资助项目(01040)

摘　　要：介绍一种新型二驱动球形机器人,它使用两个电机作为输入,而球形机器人在平面运动具有三个自由度,所以属于非完整欠驱动系统.内驱动机构通过改变配重重心的位置实现了球形机器人沿任意方向的运动,且球形机器人的位姿影响了球形机器人沿不同方向运动的灵活性.阐述了它的结构特点,利用非完整系统力学理论对球形机器人运动学、动力学进行了初步分析.采用欧拉角和三维转动群知识对球形机器人的全方位运动学特性进行了分析.A new type of mobile spherical robots, which are based on a nonholonomic system and takes two motors as impetus sources, was developed. The developed spherical robot has only two input parameters while a sphere rolling on a plane has three degrees of freedom, thus the spherical robot is under actuated. When its IDU（inside drive unit） changes the position of the barycenter of weights by uses two motors as impetus, it can realize any omnidirectional movement and move in a arbitrary direction with zero turning radius. The under-actuated designs can make the structure simpler while making the physical layout more complicated. The omnidirectional movement of the spherical robot varies with different positions and inclinations between the long axis and the vertical line. The architectural feature of this robot were analyzed. Preliminary analysis and research was made on spherical robot kinematics and dynamics by using nonholonomic system dynamics, and based on the concerned knowledge such as Eulerian angle and three-dimensional rotation-group.

关 键 词：欠驱动 非完整 二驱动球形机器人 平面运动 全方位运动特性 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]