Study on turning in place of a spherical robot based on stick-slip principle
The paper deals with the motion of turning in place of a spherical robot for military reconnaissance and unknown environment exploration developed by us. The robot belongs to a nonholonomic and under-actuated system. The robot has 3 DOF and 2 inputs. The motion of turning in place can make a spherical robot with higher dexterity and environmental adaptability. The mathematical model of the turning motion is established by theory of moment of momentum. The relationship between the motion parameters is deduced, which is the basis of motion simulation and control system. Based on the analysis of mathematical model, a stick-slip principle is proposed for turning in place of the robot which is driven by double ballast masses. The stick-slip process is divided to three stages which are interpreted in theory. The principle is verified by numerical simulation and prototype experiment. The results confirm the effectiveness of the principle. The errors between theoretical analysis and experiment are analyzed at last.
spherical robot turning in place stick-slip principle
Bo Zhao Pengfei Wang Haiyan Hu Mantian Li Lining Sun
State Key Laboratory of Robotics and System,Harbin Institute of Technology.Harbin,150001 China
国际会议
2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)
桂林
英文
771-775
2009-12-19（万方平台首次上网日期，不代表论文的发表时间）