一种新型球形机器人的结构设计∗

摘要

Conventional spherical robots have the problems of complex structure and difficult control. To o-vercome these shortcomings, a new kind of remote control spherical robot by controlling the counterweight swing was designed, which driven by composite of gravity deviation and inertial moment. Its motion princi-ple was analyzed and the mathematical model of the system was created. Furthermore, a prototype of this kind spherical robot was manufactured. The experimental results show that the structure of the spherical ro-bot is simple. It can move along arbitrary curvature curve and arbitrary steering. Furthermore, it can achieve better localization performance and reset property.%针对目前球形机器人存在的结构复杂，控制困难等问题。在基于重心偏摆与力矩复合驱动的原理上，文章设计了一款控制配重块摆动的新型遥控球形机器人，重点分析其运动原理，建立系统的数学模型，并制作了一台样机。实验测试表明：该球形机器人的结构简单，可实现沿任意曲率的曲线运动以及任意转向的控制，且定位性能和复位性能好。