基于反作用轮稳定的球形机器人设计与分析

Cheng Li, Aibin Zhu, Chunli Zheng, Han Mao, Muhammad Affan Arif, Jiyuan Song, Yulin Zhang
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引用次数: 2

摘要

本文设计了一种具有高球壳与驱动单元质量比的球形机器人。提出了球形机器人的驱动单元和新型壳体结构设计,并采用反作用轮来减小机器人的振动。利用拉格朗日方程建立了球面机器人的线性运动和静态动力学模型。通过仿真研究了机器人在加速状态、均匀状态等不同状态下的稳定性。结果表明,反作用轮结构能够提高机器人的稳定性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Design and analysis of a spherical robot based on reaction wheel stabilization
In this paper, we present the design of a spherical robot with a high spherical shell to drive-unit mass ratio. A drive unit and a novel shell structure design for the spherical robot are proposed, and reaction wheels are used to reduce the robot’s oscillations. Dynamic models of the spherical robot are established for linear motion and static state by using Lagrange equation. The stability of the robot is studied via simulations in different, such as accelerated state, uniform state, and so on. The results demonstrate the ability of the reaction wheel structure to enhance the robot’s stability.
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