球形机器人的圆周运动分析

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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