引用本文: 叶长龙, 梁海超, 于苏洋, 姜春英. 变结构可抛掷球形机器人的运动分析[J]. 机器人, 2016, 38(2): 154-159.
YE Changlong, LIANG Haichao, YU Suyang, JIANG Chunying. Kinematic Analysis of a Throwable Spherical Robot with a Variable Structure[J]. ROBOT, 2016, 38(2): 154-159.
 Citation: YE Changlong, LIANG Haichao, YU Suyang, JIANG Chunying. Kinematic Analysis of a Throwable Spherical Robot with a Variable Structure[J]. ROBOT, 2016, 38(2): 154-159.

## Kinematic Analysis of a Throwable Spherical Robot with a Variable Structure

• 摘要: 针对灾后、战后等复杂地面环境，开发了一种能够以抛掷或发射方式进入工作区域进行作业的变结构机器人．该机器人能够以球形结构通过抛掷或发射的方式越过现有大部分地面移动机器人无法通过的地面障碍．同时，在到达工作区域后，机器人能够变形为具有 2 个被动自由度的四轮移动机器人以完成移动作业．为了对机器人进行有效的运动控制，针对展开结构建立了考虑前、后车体几何约束及驱动轮无横向滑移约束的运动学模型，分析了机器人在进行曲线运动时产生轨迹误差的原因．仿真得到了机器人做正弦曲线运动时的轨迹误差，并分析了误差的影响因素．通过实验对建立的模型和仿真结果进行了验证，证明机器人具有较好的运动灵活性．

Abstract: In view of the complex ground environment after disasters or wars, a robot with a variable structure is developed, which can be thrown or fired into the working area. The robot adopting spherical structure can be thrown or fired across some obstacles which are difficult for most existing robots to cross. After going into the working area, the robot can adopt the four-wheel structure with two passive degrees of freedom to realize the moving work. In order to control movement of the robot effectively, a kinematic model is established, in which the geometric constraint and the non lateral slip constraint of the front and rear bodies are considered for the unfolded structure, and the cause of the robot's trajectory error along a curved path is analyzed. The simulation for the robot to follow a sinusoidal trajectory is performed, and the trajectory error and its influencing factors are studied. An experiment is performed to verify the presented model and the simulation results, and good mobility of the robot is demonstrated.

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