Electromagnetic Force Balanced Single-Wheel Robot  

作　　者：ZHU Xiaoqing RUAN Xiaogang CHEN Zhigang WEI Ruoyan XIAO Yao 

机构地区：[1]College of Electronic Information and Control Engineering,Beijing University of Technology [2]Center for Intelligent Machines,McGill University

出　　处：《Chinese Journal of Electronics》2016年第3期441-447,共7页电子学报（英文版）

基　　金：supported by the National Natural Science Foundation of China(No.61075110,No.61375086);National Basic Research Program of China(973 Program)(No.2012CB720000);China Scholarship Council Program(No.201306540008)

摘　　要：It is a challenging task to carry on the research concerning the lateral stabilization of Single wheel robot(SWR). The lateral dynamics of earlier flywheel stabilizing SWR is derived to explain the shortcomings of such a mechanism, and the recovery torque proportional to the acceleration and moment of inertia of the flywheel is proved. But as the motor being a speed server system,it is difficult to control its acceleration to actuate the flywheel to provide recovery torque for SWR; and the moment of inertia of the flywheel must be large enough to produce adequate recovery torque, which makes such a system rather cumbersome. We proposed a new mechanism to solve the problem by introducing an electromagnetic force. The proposed mechanism is described briefly, and the dynamic analyses of such a new SWR is given, then the stability analysis is also done. Three-dimensional(3D)multi-body simulation, numerical simulation and physical invented pendulum prototype experiments were conducted to verify the proposed mechanism. The experiment results verified that the proposed mechanism is feasible and have some advantages over the flywheel balanced SWR.It is a challenging task to carry on the research concerning the lateral stabilization of Single wheel robot（SWR）. The lateral dynamics of earlier flywheel stabilizing SWR is derived to explain the shortcomings of such a mechanism, and the recovery torque proportional to the acceleration and moment of inertia of the flywheel is proved. But as the motor being a speed server system,it is difficult to control its acceleration to actuate the flywheel to provide recovery torque for SWR; and the moment of inertia of the flywheel must be large enough to produce adequate recovery torque, which makes such a system rather cumbersome. We proposed a new mechanism to solve the problem by introducing an electromagnetic force. The proposed mechanism is described briefly, and the dynamic analyses of such a new SWR is given, then the stability analysis is also done. Three-dimensional（3D）multi-body simulation, numerical simulation and physical invented pendulum prototype experiments were conducted to verify the proposed mechanism. The experiment results verified that the proposed mechanism is feasible and have some advantages over the flywheel balanced SWR.

关 键 词：Single-wheel robot（SWR） Electromagnetic force Lateral stabilization mechanism Dynamic analyses Stability analysis 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]