自行直立双轮移动机器人设计与实现  

Design of a Self-Standing Two-Wheeled Mobile Robot

作　　者：缪寿洪[1] 曹其新[1] 孔祥宣[1] 

机构地区：[1]上海交通大学机器人研究所,上海200240

出　　处：《上海交通大学学报》2006年第11期1832-1835,1841,共5页Journal of Shanghai Jiaotong University

基　　金：国家自然科学基金资助项目(60443007)

摘　　要：提出了一种使双轮移动机器人在无人为协助时实现其机身从翻倒平卧状态自行直立的方法.该方法采用近似陀螺原理,对一高速转子实施强迫进动,以进动产生的陀螺力矩带动机器人自行直立.从理论上证明了该方法的可行性,并用软件ADAMS仿真实现了双轮移动机器人的自行直立.A moving two-wheeled mobile robot will easily overturn when it is suffered by sudden impact or other disturbance. This paper presented a new method with which an overturned two wheeled mobile robot will stand by itself. This method utilizes a gyroscopic moment which is produced from the forced precession of a high-speed rotor whose axis is changed by another moment, to upright the robot＇s body. The feasibility of the method is proved in theory.

关 键 词：双轮移动机器人 陀螺力矩 进动 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]