华东理工大学学报：自然科学版2011，Vol.37Issue(6)：775-781,7.
电磁驱动球形机器人的原理及性能分析
Electric Magnetic Driving Mechanism Design and Performance Analysis of a Spherical Robot
摘要
Abstract
A novel electric magnetic driving mechanism for full-orientational spherical robot with better movement is proposed, such mechanism can drive the robot to roll forward or backward by propelling or pulling between the magnets, as well as to turn by a flying wheel. It is believed that the robot can roll in omni-directions without ever overturning by combining the straight motion and steering. Prototype is developed based on the above driving mechanisms. The abilities of this prototype for conditions of rolling, uphill climbing, obstacle overrunning and turning are analyzed in detail. It is concluded that the larger of the ratio of the pendulum mass and the spherical robot mass are, the better of the dynamic performance is.关键词
球形机器人/驱动原理/运动性能Key words
spherical robot/driving mechanism/moving ability分类
机械制造引用本文复制引用
桑胜举,周琼,沈丁,赵继超,安琦..电磁驱动球形机器人的原理及性能分析[J].华东理工大学学报：自然科学版,2011,37(6):775-781,7.基金项目
山东自然科学基金项目 （）
山东省泰安市科技发展计划项目 （）
