Research on Roll-in Dynamics and Acceleration Characteristics of Spherical Robot for Engineering Monitoring

摘要

In order to grasp the acceleration characteristics of spherical robot during movement, and then optimize the performance of the robot, together with solving the problem of the actual environment adaptability of the robot in the process of engineering monitoring, Lagrangian equation method and simulation test method are used to study the Rolling dynamics of spherical robot, which contributes to the kinetic model of the robot in rolling on the flat; the characteristic of simple harmonic oscillation of acceleration and velocity in the process of uniform velocity roll-in is discovered; the coupling relationship between the structural characteristics of the robot center of gravity position and weight ratio and acceleration characteristics is clarified. This paper summarizes how to optimize the structure of the robot to control the acceleration oscillation frequency, and then realizes the method to improve the robot motion performance. It provides the theoretical foundation for the study of complex dynamics, manipulation and control of spherical engineering monitoring robot and the application of large-scale engineering.