摘要
本文中的球形机器人是一种非完整系统,它利用两个电机作为动力输入,通过改变配重重心的位置实现了球形机器人沿任意方向的运动,包括原地的自转,并且具有一定的爬坡能力。由于其具有特殊的灵活性,它可以应用于各种不同的场合。本文简要介绍了该球形机器人的机械设计原理和相关的基本运动原理分析。
The paper deals with a spherical mobile robot, which is a nonholonomic system. It has two motors used as the inside driving units. Omnidirectional movements, including rotation and the ability of climbing, are possible through changing the position of a weight. It can be used in various fields for its outstanding flexibility. The design and the mathematical models on kinematics are developed in this paper.
出处
《机电产品开发与创新》
2004年第1期14-16,共3页
Development & Innovation of Machinery & Electrical Products
基金
国家自然科学基金(50175005)
教育部科学技术研究重点项目(01040)
