摘要
介绍一款优化动态性能的足球机器人开发设计。其特点是:支撑轮采用圆球钢珠替代传统的滚动轴承;驱动轮的轮胎选用附着系数高而摩擦系数低的橡胶材料,并结合特殊的工艺制作;电源的电池经过特殊设计,连续使用时间延长20%以上,但体积比原有的电池减小约30%。动态性能对比实验表明,机器人运动灵活性有很大提高;采用适当的运动控制算法,可以保证机器人运动平稳性和准确性。
A novel FIRA soccer robot was developed to achieve robotic soccer competence .Cause and effect graph of the effective items to the dynamical performance of the robot is presented. To achieve better dynamical performance, an irony ball instead of the ball bearing is selected as the bearing wheels, the driving hub is made of motor truck rubber and dented by an exotic process to obtain more traction, and the lithium-ion batteries is selected as the power. The flexibility of the robot has been largely improved; The battery is specially manufactured, its power consumption has been decreased about 20%, and its volume has been decreased about 30%; The smoothriding ability and motion precision can be maintained if the proper motion control algorithm is utilized. All these effects have been verified by the comparative test and the application.
出处
《机械》
2007年第2期57-59,共3页
Machinery
基金
辽宁省教育厅科学研究计划资助(05L191)
