质心径向可变球形机器人的设计与运动分析  

Design and Motion Analysis of a Spherical Robot Having the Ability to Change the Centroid Radially

作　　者：马龙 孙汉旭[2] 李明刚 孙萍[3] 张维振 龙秉政 史慧文 MA Long;SUN Han-xu;LI Ming-gang;SUN Ping;ZHANG Wei-zhen;LONG Bing-zheng;SHI Hui-wen(China Coal Research Institute,CCTEG,Beijing 100013;School of Automation,Beijing University of Posts and Telecommunications,Beijing 100876;Department of Physics,Beijing Normal University,Beijing 100875)

机构地区：[1]煤炭科学技术研究院有限公司,北京100013 [2]北京邮电大学自动化学院,北京100876 [3]北京师范大学物理学系,北京100875

出　　处：《机械工程学报》2022年第5期44-56,共13页Journal of Mechanical Engineering

基　　金：国家自然科学基金(52075046);天地科技股份有限公司科技创新创业资金专项(2020-TD-MS001)资助项目。

摘　　要：面向非结构化任务环境下球形机器人的实用性提升需求,研制BYQ-GS型质心径向可变球形机器人样机,使球形机器人同时具备重摆驱动模式与倒立摆驱动模式,且2种驱动模式下均能实现质心的径向变化。考虑质心径向变化因素,同时将运动过程中受到的可控影响因素融入动力学模型构建过程,得出面向非结构化任务环境的动力学模型。以BYQ-GS型球形机器人样机为实验平台,分析倒立摆驱动模式与质心径向移动对球形机器人运动产生的影响。结果表明,与重摆驱动相比,倒立摆驱动在超调量、系统响应速度与能耗方面具有优势,在系统收敛速度与运动稳定性方面具有劣势,并且运动开始阶段质心-球心距离逐渐减小能够使2种驱动模式的控制系统收敛速度、超调量、稳定性与响应速度均变差,同时使能耗变优。In order to improve the practicability of the spherical robot in the unstructured task environment, the BYQ-GS spherical robot with the ability to change the centroid radially is developed, which not only has the heavy pendulum driving mode, but also has the inverted pendulum driving mode. Under the two different motion modes, it can both realize the radial centroid change function.The radial variation of centroid is considered, and the controllable influence factors during the motion process are integrated into the dynamic model construction process to realize the dynamics model for unstructured task environment in two motion modes. Based on the BYQ-GS spherical robot, the effects of inverted pendulum driving mode and radial movement of mass center on the motion of spherical robot are analyzed. The results show that compared with the heavy pendulum driving mode, the inverted pendulum driving mode has advantages in overshoot, response speed and energy consumption, and has disadvantages in convergence speed and stability.The reduction of the distance between the centroid and the ball center at the beginning of the movement can make the convergence speed, overshoot, stability and response speed of the two driving modes worse, and optimize the energy consumption.

关 键 词：球形机器人 机构设计 动力学模型 运动分析 质心 

分 类 号：TH133[机械工程—机械制造及自动化]