球形机器人的跳跃运动分析  

Jumping movement analysis of spherical robot

作　　者：王亮清[1] 孙汉旭[2] 贾庆轩[2] 肖爱平[3] 于忠华[2] 曹骁炜[2] 

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 [2]北京邮电大学自动化学院,北京100876 [3]中科院自动化研究所,北京100080

出　　处：《机械设计》2006年第3期28-30,共3页Journal of Machine Design

基　　金：国家自然科学基金资助项目(50175005)

摘　　要：球形机器人除了能进行滚动运动外,还可以实现跳跃运动。跳跃运动方式与滚动运动方式的结合,可以扩大其活动范围,进而提高球形机器人的机动性和灵活性,拓展其应用领域。因而球形机器人的跳跃运动是一种重要的运动方式。在分析球形机器人滚动行走的基础上,推导出了球形机器人的起跳条件;利用拉格朗日方程得到了球形机器人跳跃运动微分方程;通过求解该跳跃运动微分方程得到了球形机器人跳跃高度和跳跃长度的公式。最后,对球形机器人的跳跃运动进行了仿真。这些工作的完成为球形机器人跳跃运动的进一步研究打下了基础。Besides the spherical robot could carrying out rolling movement, it could still realize jumping movement. The combination of mode of jumping motion and mode of rolling mo tion could enlarge its range of movement, and thus enhanced the mobility and flexibility of spherical robot to develop its domain of application. As a result the jumping movement of spherical robot is a kind of important mode of motion. On the basis of analyzing the rolling walking of spherical robot, this paper derived the condition of taking off, obtained the differential equation of jumping movement of spherical robot by the use of Lagrange equation, and gained the formulae of jumping height and jumping length of spherical robot by means of solving the differential equation of this jumping movement. Finally, this paper carried out simulation on the jumping movement of spherical robot. The completion of these jobs laid a foundation for further study on the jumping movement of spherical robot.

关 键 词：球形机器人 跳跃 动力学 

分 类 号：TP114[自动化与计算机技术—控制理论与控制工程]