电磁驱动球形机器人的原理及性能分析

桑胜举; 周琼; 沈丁; 赵继超; 安琦

电磁驱动球形机器人的原理及性能分析

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

华东理工大学机械与动力工程学院，上海 200237

泰山学院信息科学技术学院，山东泰安 271021

通讯作者: 桑胜举, sang1108@163.com ;

Electric Magnetic Driving Mechanism Design and Performance Analysis of a Spherical Robot

School of Information Science and Technology, Taishan College, Taian 271021, Shandong, China

School of Mechanical and Power Engineering, East China University of Science and Technology, Shanghai 200237, China

School of Information Science and Technology, Taishan College, Taian 271021, Shandong, China

Corresponding author: SANG Sheng-ju, sang1108@163.com ;

摘要: 提出了一种电磁驱动全方位运动球形机器人驱动原理：通过电磁磁芯与永磁磁钢之间的吸引或排斥力，带动内部驱动机构绕主轴旋转，实现球形机器人的前进和后退；由电机带动飞轮一起旋转，实现电磁驱动球形机器人的转向运动，两种运动合成即可实现球形机器人的全向滚动。对球形机器人的滚动条件、越障能力、爬坡能力、转弯特性等作了静力学分析。为提高球形机器人的越障、爬坡等动力性能，研究了等效摆质量m与球形机器人总质量（M+m）的比值对球形机器人静力学性能的影响。

Abstract: A novel electric magnetic driving mechanism for fullorientational spherical robot with better movement is proposed, such mechanism can drive the robot to roll forward or backward by propelling or pulling between the magnets, as well as to turn by a flying wheel. It is believed that the robot can roll in omnidirections without ever overturning by combining the straight motion and steering. Prototype is developed based on the above driving mechanisms. The abilities of this prototype for conditions of rolling, uphill climbing, obstacle overrunning and turning are analyzed in detail. It is concluded that the larger of the ratio of the pendulum mass and the spherical robot mass are, the better of the dynamic performance is.

Key words:

spherical robot

电磁驱动球形机器人的原理及性能分析

通讯作者: 桑胜举, sang1108@163.com;

1. 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

2. 华东理工大学机械与动力工程学院，上海 200237

3. 泰山学院信息科学技术学院，山东泰安 271021

收稿日期: 2011-06-23

关键词:

球形机器人；驱动原理；运动性能