摘要
首先分析了球形机器人的爬坡能力,进行了爬坡实验.然后利用相平面法对球形机器人弹跳前的运动进行了分析,得到了起跳条件;利用质点系的达朗伯原理得到了球形机器人弹跳后的动力学模型.最后制作了1套弹跳实验装置,并对该模型进行了仿真和实验.仿真和实验的结果验证了分析的正确性以及球形机器人弹跳运动的可行性.
The problem of a spherical rolling robot＇s climbing capability is analyzed and the related climbing experiment is introduced. A method of phase plane is used to investigate the movement of the spherical rolling robot before jumping and its jumping condition is developed. The dynamic model of the spherical rolling robot after jumping is derived using the D＇ Alembet principle. The feasibility of the theoretical analysis for the spherical rolling robot is verified by the results of simulation and experiment.
出处
《北京邮电大学学报》
EI
CAS
CSCD
北大核心
2007年第2期11-14,共4页
Journal of Beijing University of Posts and Telecommunications
基金
国家自然科学基金项目(50175005)
教育部科学技术研究重点项目(01040)
关键词
球形机器人
爬坡
弹跳
spherical rolling robot
climbing
jumping
