| 电磁驱动球形机器人转弯特性分析 |
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| 引用本文： | 桑胜举,沈丁,赵继超,周京伟,安琦.电磁驱动球形机器人转弯特性分析[J].泰安师专学报,2013(3):82-87. |
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| 作者姓名： | 桑胜举 沈丁 赵继超 周京伟 安琦 |
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| 作者单位： | [1]泰山学院信息科学技术学院,山东泰安271021 [2]华东理工大学机械与动力工程学院,上海200237 |
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| 基金项目： | 山东省自然科学基金项目（2009ZRA01105）;山东省泰安市科技发展计划项目（20083002,20092016） |
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| 摘 要： | 本文提出一种电磁驱动全方位运动球形机器人驱动原理．采用几何分析的方法，推导出球形机器人低速运动时，转弯半径的表达式；利用分析力学的力平衡、力矩平衡方法，考虑到离心力、陀螺效应等因素的影响，对球形机器人的转弯特性进行了深入的分析，分别建立了球形机器人中速、高速运动时的转弯半径计算方程；通过对比分析，验证了所建立的转弯半径计算公式的正确性．
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| 关 键 词： | 球形机器人 驱动原理 运动性能 转弯特性 |
Analysis of Turning Performance for a Solenoid Driving Spherical Robot |
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| SANG Sheng - ju,SHEN Ding,ZHAO Ji - chao,ZHOU Jing - wei,AN Qi.Analysis of Turning Performance for a Solenoid Driving Spherical Robot[J].Journal of Taian Teachers College,2013(3):82-87. |
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| Authors: | SANG Sheng - ju SHEN Ding ZHAO Ji - chao ZHOU Jing - wei AN Qi |
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| Institution: | 1. School of Information Science and Technology, Taishan University, Tai＇an, 271021 ; 2. School of Mechanical and Power Enginecrlng, East China University of Science and Technology, Shanghai, 200237, China) |
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| Abstract: | In this paper, a novel kind of solenoid driving mechanism for full - orientational spherical robot with better movement is proposed. The equations of steering radius are deduced, utilizing the method of geo- metrical analysis for robot traveling at low speed, as well as employing the force - equilibrium and torque - equilibrium principles of analytical mechanics at median speed and high speed, considering the centrifugal force of steering and gyroscopic effect respectively. It is proved that the equations come into validity through comparison. |
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| Keywords: | spherical robot driving mechanism moving ability turning performance |
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