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针对目前球形机器人爬坡能力不强的问题,设计了一种新型机构,在球形机器人的长轴方向上与本体固连两个可伸出和展开的手臂机构.遇陡坡时,手臂伸出后支撑在路面上,球形机器人将不再依靠重摆的驱动,而是通过电机直接驱动球壳.深入分析对比了手臂伸出前后的爬坡能力,并建立了爬坡时直线运动的动力学模型,对手臂伸出后的球形机器人进行了路径规划.最后通过仿真和试验验证了力学模型的准确性.
In order to solve the problem of poor climbing capability of spherical robots, a new type of mechanism is designed to fix two extendable and extendable arm mechanisms to the body in the direction of the long axis of the spherical robot. In the case of steep slopes, Supported on the road, the spherical robot will no longer rely on the heavy pendulum drive, but directly drives the spherical shell through the motor.Analyze and compare the climbing ability of the arm before and after extending, and establish the dynamic model of linear motion when climbing , The path planning of the spherical robot after the arm is stretched out is carried out.Finally, the accuracy of the mechanical model is verified through simulation and experiment.