Dissertation > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot

Spherical robot for military concept study and analysis of operating characteristics

Author ZuoHui
Tutor ZhangYue
School Nanjing University of Technology and Engineering
Course Mechanical Design and Theory
Keywords Spherical robot Conceptual design Operating characteristic analysis ADAMS MATLAB numerical calculation Prototype development
Type Master's thesis
Year 2009
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Military spherical robot is a new type of robot has a spherical shell . It has action flexibility , small turning radius , the device can be built , thus the military broad application prospects . This paper studies a military concept prototype of the spherical robot and its operating characteristics analysis . Through the analysis of the status quo and development trend of the spherical robot technology at home and abroad , proposed the concept of a military spherical robot model . The structure of the model is simple , easy to control and stable internal platform , so that it has a high practical value . In the conceptual model based on the establishment of a new double pendulum of spherical robots entities model . This paper uses vector mechanics theory , the double pendulum spherical robot rolling motion analysis and jumping movement analysis , contains kinematic and dynamic equations , as well as take-off conditions , jump height and the jump distance logical criterion mechanics model . Using differential equations numerical method for kinetic equation solver in MATLAB software , the theory of the pendulum angle and ball speed , and other parameters characteristic curve . ADAMS software to establish the the double pendulum spherical robot simulation model , the simulation of these parameters characteristic curve . Have a good agreement between the theoretical characteristic curve and simulation characteristic curve , proves the mechanical model built to solve the correctness and validity of the method , and ADAMS simulation . Double pendulum spherical robot instantaneous movement speed , maximum average speed, maximum pendulum analysis of the relationship between the angle of the pendulum between quality and motor speed , provides a theoretical basis for the structural design of the double pendulum spherical robot motion control . Trial double pendulum spherical robot concept prototype , prototype structural design, the choice of the motor and drive , format the design of wireless communication , the preparation of the man-machine interface software , as well as the power of design work , prototype concept prototype control mode movement , the law of motion of the prototype revealed the correctness of the conceptual model of a spherical robot double pendulum . Through this study , the double pendulum spherical robot has laid a good foundation , and also provides a practical approach and experience in military spherical robot exploration .

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