Mechanical Analysis of the Jumping Motion of a Spherical Robot

摘要：

　　The obstacle surmounting capability of traditional spherical mobile robot is limited,especially when the spherical mobile robot comes across vertical barrier.In this paper we design a new kind of spherical mobile robot with two-mass-one-spring mechanism based on tradition spherical mobile robot.This spherical robot could not only move agility and move with the zero turning radius like traditional spherical mobile robot but also jump in three-dimensional space.In this paper we build the mathematical model of robot jumping with friction.Numeric simulations are carried out for the model using Matlab and ADAMS,we get the similar curve.These simulation results verify the validity of the mechanics model.At last we design an experimental facility,verify the model of robot jumping by experiment.Our work will be the base of model machine designing.

关键词： Spherical robot Two-mass-one-spring mechanism Jumping movement Mechanics model

作者: Wei Zhao Hanxu Sun Qingxuan Jia Yanheng Zhang Tao Yu

作者单位: School of Automation,Beijing University of Posts and Telecommunications,Beijing 100876,China

会议类型: 国际会议

会议名称: the 2012 International Conference on Manufacturing Engineering and Automation (2012年制造工程与自动化国际会议(ICMEA2012))

会议地点: 广州

会议语种:英文

页码: 1457-1460

在线出版日期: 2012-11-16（万方平台首次上网日期，不代表论文的发表时间）