一种全向滚动球形机器人的动力学建模与仿真  

Dynamic Modeling and Simulation of Spherical Omnidirectional Rolling Robot

作　　者：李团结[1] 严天宏 张学锋[1] 

机构地区：[1]西安电子科技大学机电工程学院,西安710071 [2]上海微电子装备有限公司工程技术研究中心,上海201203

出　　处：《系统仿真学报》2007年第18期4239-4242,共4页Journal of System Simulation

基　　金：陕西省自然科学基金(2006E103)

摘　　要：设计了一种全向滚动球形机器人装置,对其在斜面上的动力学分析与仿真进行了研究。根据机器人所受的非完整约束,建立了其运动学模型。根据机器人的结构特征和Lagrange-Routh方程,建立了其动力学模型,给出了消去未知Lagrange乘子的方法。得到了该球形机器人的完整动力学模型。然后应用MATLAB中的SIMULINK工具和S函数,建立了描述该球形机器人完整动力学方程的仿真模型。结合运动实例进行了机器人的动力学分析和仿真,结果表明了动力学模型的正确性和分析方法的有效性。A novel spherical omnidirectional rolling robot was proposed. The dynamic analysis and simulation of the robot on a slope were developed. The kinematic model for the spherical robot was established according to the nonholonomic constraint acting on it. On the basis of its structural characteristics, its dynamic model was derived applying the Lagrange-Routh equations. A method was given to eliminate the unknown Lagrange multipliers. A complete dynamic model for the spherical robot was obtained. Then using the Simulink tools and S-function in MATLAB, a simulation model that described the complete dynamic equations of the robot was established. The motion examples were given to illustrate the dynamic analysis and simulation of the spherical robot. The results demonstrate the validity of the model and the effectiveness of the analysis method.

关 键 词：球形机器人 运动性能 非完整约束 动力学 分析和仿真 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术] TP24[自动化与计算机技术—计算机科学与技术]