基于ADAMS的球形机器人加速特性分析  

Analysis on acceleration characteristics of spherical robot based on ADAMS

作　　者：赵凯亮[1] 孙汉旭[1] 贾庆轩[1] 刘大亮[1] 史成坤[1] 

机构地区：[1]北京邮电大学自动化学院,北京100876

出　　处：《机械设计》2009年第7期24-27,共4页Journal of Machine Design

基　　金：国家863计划资助项目(2006AA04Z243);国家自然科学基金资助项目(50775013)

摘　　要：针对以配重改变重心为驱动的球形机器人进行了加速特性分析。通过牛顿-欧拉法建立了该类球形机器人直线运动的动力学模型,并对该非线性的动力学方程进行了简化,从而得到其加速度的振动微分方程。基于该方程分析了球形机器人的加速特性,以及机器人不同结构参数对其加速特性的影响。最后,利用ADAMS对球形机器人在硬质平坦路面上的运动进行了仿真,获得并分析了不同结构参数条件下球形机器人的加速度曲线,实验结果验证了动力学模型的有效性和准确性,为球形机器人的结构优化设计提供了依据。Aimed at the spherical robot driven by changing the center of gravity with counterweight, an acceleration characteristics analysis was carried out. By means of Newton-Euler method the dynamic model of the linear movement of this kind of spherical robot was established. And the simplification on this nonlinear dynamic equation was carried out, thus the vibrational differential equation of its acceleration was obtained. On the basis of this equation the acceleration characteristics of spherical robot and the influence of different structural parameters of robot on its acceleration characteristics were analyzed. Finally, by the use of ADAMS the simulation was carried out on the movement of spherical robot walking about on the hard flat road surface, and the acceleration curve of spherical robot under conditions of different structural parameters was obtained and analyzed. The result of experiment verified the effectiveness and the accuracy of the dynamics model thus provided a basis for the structural optimization design of spherical robot.

关 键 词：球形机器人 ADAMS 加速特性 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]