摘要
针对现有机械陀螺结构复杂或通常只能单方向进动的不足问题，提出一种自转轴能够按任意方向进动的新型球形陀螺机构，重点对系统运动学原理进行分析和试验。采用球形外壳作为机械陀螺的浮动支撑，以三对全向轮为系统的驱动输入，通过全向轮带动球壳运动设计出球形陀螺机构；根据全向轮与球壳接触的纯滚动假设以及相对运动原理分析系统的运动学特性，建立系统的运动学耦合数学模型；采用物理样机试验对建立的运动学模型进行试验验证，结果表明。无论是在电机驱动下还是人工手拨动球壳，数学模型计算值均能够对实测值进行较好地跟踪。本文研究可为球形机械陀螺的陀螺力矩控制提供理论依据。
Aiming at the problem that the existing mechanical gyroscope structure is complex or usually only one- way precession, a new type of spherical gyro can be put forward whose rotation axis can realize the precession in any direction. The principle of system kinematics is the focus of analysis and testing. Spherical shell is used as a floating support of mechanical gyro. Three pairs of omni-directional wheels is used as drive input of the system. The spherical gyro is designed by omni-directional wheels driving the spherical shell. According to the pure rolling assumption of the omni-directional wheels and the spherical shell and the relative motion principle, the kinematic characteristics of the system are analyzed. The kinematic coupling mathematical model between the spherical shell and the omni-directional wheels is created. The kinematic model was validated by the physical prototype test. The results show that the calculated values of the mathematical model can track the measured values well under the motor drive or the artificial hand. This research can provide theoretical basis for gyro moment control of spherical mechanical gyro.
出处
《机械设计与研究》
CSCD
北大核心
2018年第1期26-30,35,共6页
Machine Design And Research
基金
国家自然科学基金资助项目(61365012、51765011、51305087)
广西制造系统与先进制造技术重点实验室主任课题基金项目(14-045-15-003Z)
桂林电子科技大学研究生教育创新计划资助项目(2016YJCX102、2016YJCX103)
关键词
球形机械陀螺
全向进动
运动学分析
纯滚动
spherical mechanical gyro
omni-direetional precession
kinematics analysis
pure rolling
