Spherical robot for military concept study and analysis of operating characteristics
|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|
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 .