基于ADAMS的电磁驱动球形机器人运动仿真研究  

Research on Motion Simulation of Solenoid Driving Spherical Robot Based on ADAMS

作　　者：桑胜举[1,2] 沈丁[1] 赵继超[1] 周琼[2] 安琦[2] 

机构地区：[1]泰山学院信息科学技术学院,泰安271021 [2]华东理工大学机械与动力工程学院,上海200237

出　　处：《系统仿真学报》2013年第7期1568-1573,1579,共7页Journal of System Simulation

基　　金：山东自然科学基金项目(2009ZRA01105);山东省泰安市科技发展计划项目(20083002;20092016)

摘　　要：提出了一种双电磁线圈驱动球形机器人驱动原理:通过电磁磁芯与永磁磁钢的吸引或排斥力,带动内部驱动机构绕主轴旋转,实现球形机器人的前进和后退;由电机带动飞轮一起旋转,实现电磁驱动球形机器人的转向运动,两种运动的合成即可实现球形机器人的全向滚动。通过对球形机器人越障能力和爬坡能力进行理论分析,研究了等效摆质量m与球形机器人质量(M+m)的比值以及等效摆的长度r与球形机器人半径R的比值对球形机器人性能的影响。基于ADAMS虚拟样机技术,对球形机器人的运动性能进行了仿真实验研究。A novel twin-solenoid mechanism for full-orientational spherical robot with better movement was proposed, which drove the robot to roll forward or backward by propelling or pulling between the magnets, as well as to turn by flying wheel according to the principle of conservation of angular momentum. It is believed that the robot can roll in omni-directions without ever overturning by conbining the straight motion and steering. The motion abilities for conditions of the spherical robot were analyzed in detail, which has reached a conclusion that the larger of the ratio of the pendulum mass and the spherical robot mass is, the better of the dynamic performance is. Moreover, a same conclusion could be drawn in view of the influence of the ratio of the pendulum length and the radius of the spherical robot. Furthermore, simulations based on ADAMS were conducted. For missions of uphill climbing and obstacle overrunning, it is shown experimentally that the results agree well with the theoretical analysis.

关 键 词：球形机器人 驱动原理 ADAMS 爬坡能力 越障能力 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]