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风力驱动球形机器人是一种新型移动机器人,适合于危险或人类难以到达的复杂地形环境的探测,因此在环境探测领域具有独特的优势。首先考虑了碰撞接触点无滑动和有滑动的情况,采用Kane方法建立了风力驱动球形机器人弹跳动力学模型,该模型可以直接分析机器人碰撞后的运动情况。然后给出了机器人滚动和滑动的运动条件,运用牛顿力学方法建立了机器人的滚动和滑动动力学模型。最后将弹跳、滚动和滑动运动模式有机结合,并考虑环境中随机风的作用,实现了风力驱动球形机器人的运动仿真。数值仿真结果揭示了环境变化和机器人结构参数变化对其运动性能的影响。
Wind-driven spherical robot is a new type of mobile robot that is suitable for the detection of complex terrain environments that are dangerous or difficult to reach by human beings and therefore has unique advantages in the field of environmental exploration. Firstly, the sliding contact points are considered to be slip-free and slip-free. The Kane method is used to establish the bouncing dynamics model of the spherical robot driven by wind power. The model can directly analyze the movement of the robot after the collision. Then, the conditions for the robot to roll and slide are given. The rolling and sliding dynamics model of the robot is established by Newton’s mechanics. Finally, combining bouncing, rolling and sliding modes, and considering the effect of random wind in the environment, the motion simulation of the wind driven spherical robot is realized. Numerical simulation results reveal the influence of environmental changes and robot structural parameters on their performance.