机器人2012，Vol.34Issue(2)：152-158,7.DOI:10.3724/SP.J.1218.2012.00152
一种具有爬坡能力的球形机器人运动分析
Motion Analysis of a Spherical Robot with Climbing Ability
摘要
Abstract
For the problem that the climbing ability of existing spherical robots are not strong enough, a new spherical robot mechanism is designed. There are two extendable arms fixed to the spherical body in the direction of body's long axis. When climbing a slope of great gradient, the arms extend and support the body on the road. After arms extension, the robot is driven by motor directly, relying no longer on the pendulum. Then, analysis and comparison of climbing ability before and after arms extension are made, and the dynamic model of linear motion is established when robot climbing, also the path planning after arms extension is analyzed. Finally, the accuracy of the mechanical model is verified by simulation and tests.关键词
爬坡能力/力学分析/动力学模型/运动规划/仿真试验Key words
climbing ability/mechanical analysis/dynamic model/motion planning/simulation and test分类
信息技术与安全科学引用本文复制引用
孙治伟,孙汉旭,贾庆轩,张延恒,赵伟,叶茁..一种具有爬坡能力的球形机器人运动分析[J].机器人,2012,34(2):152-158,7.基金项目
国家自然科学基金资助项目(51175048). （51175048）
