球形机器人的圆周运动分析

王亮清, 孙汉旭, 贾庆轩. 球形机器人的圆周运动分析[J]. 机器人, 2007, 29(1): 56-60,66.

引用本文:

王亮清, 孙汉旭, 贾庆轩. 球形机器人的圆周运动分析[J]. 机器人, 2007, 29(1): 56-60,66.

WANG Liang-qing, SUN Han-xu, JIA Qing-xuan. Circle Motion Analysis on a Spherical Robot[J]. ROBOT, 2007, 29(1): 56-60,66.

Citation:

WANG Liang-qing, SUN Han-xu, JIA Qing-xuan. Circle Motion Analysis on a Spherical Robot[J]. ROBOT, 2007, 29(1): 56-60,66.

Circle Motion Analysis on a Spherical Robot

摘要: 用Kane方法对球形机器人的圆周运动进行运动学和动力学分析，推导出动力学模型．用Ⅲ型球形机器人对该模型进行仿真和实验，仿真和实验的结果验证了球形机器人圆周运动分析的正确性．

Abstract: Using Kane approach,the circle motion kinematics and dynamics of a spherical robot are analyzed and the dynamic model is derived.The model is simulated,and an experiment is made with the Spherical Robot Ⅲ.Simulation and experimental results support the circle motion analysis.

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