一种球形移动机器人的运动性能分析  

Analysis of moving capability of a spherical mobile robot

作　　者：战强[1] 贾川[1] 马晓辉[1] 陈明[1] 

机构地区：[1]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744-747,共4页Journal of Beijing University of Aeronautics and Astronautics

基　　金：国家863资助项目(2003AA404190)

摘　　要：球形移动机器人的特殊结构使之非常适合在缺少人为干预的恶劣环境(如外星球、野外等)中应用,在此类的环境中,机器人的运动性能是决定机器人能否顺利完成预定任务的关键.介绍了BHQ-1G型球形移动机器人的结构,采用几何法和拉格朗日方程建立了该球形移动机器人的模型,并对它的直线运动、爬坡能力、越障、转弯半径等运动性能进行了具体的分析,证明了该设计的可行性并确定了影响该机器人运动性能的参数.该分析结果可用于BHQ-1G机器人的优化设计和样机研制.The special structure of spherical mobile robots makes them very suitable to be used in harsh environments where human interventions are hard to reach, such as outer planets and fields. When a spherical mobile robot moves in such environments, moving capability is a key to decide whether the robot can successfully finish given tasks. BHQ-1G, a spherical mobile robot, was introduced. The kinematic and dynamic model of the robot were built with geometry method and Lagrange equation. Its moving capability such as moving in straight line, slope climbing, obstacle climbing and turning radius, etc., were analyzed thoroughly. The analysis results not only demonstrate the feasibility of the design and determine some factors that can affect the moving capability of BHQ-1G,but also can be used to do the optimum design and prototype development of the robot.

关 键 词：球形移动机器人 运动性能 直线运动 爬坡能力 越障 转弯半径 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]