Motion characteristics analyses of multi-motion mode of spherical robot with radial variable mass center
MA Long1,2
1.China Coal Research Institute CCTEG, Beijing 100013, China;
2.State Key Laboratory of Efficient Mining and Clean Utilization of Coal Resources, Beijing 100013, China
Abstract:The radial variation of mass center enables the spherical robot to have two modes: the heavy pendulum driving mode and the inverted pendulum driving mode. Meanwhile, the radial movement of mass center based on the two modes make the motion state show different characteristics. The Combination of the function of radial variation of mass center and the task requirements in an unstructured environment is of great significance to the improvement of the practicability of the spherical robot. In this study, the experimental analyses of the spherical robot under different driving modes, different motion speeds and different slopes are carried out. According to the experimental results, the influence of the inverted pendulum driving mode on the control performance, motion ability and energy consumption level of the spherical robot are comprehensively analyzed and summarized based on 4 control performance indicators: the convergence speed, overshoot, stability and response speed of the control system, 2 sports ability indicators: climbing ability and steering ability, and energy consumption. Moreover, the correlation model of the motion characteristics requirements of the spherical robot and the radial position of the center of mass is constructed, which provides the basis for the selection of the driving mode and the radial position of the mass center of the spherical robot when facing different tasks.
马龙1,2. 质心径向可变球形机器人多运动模式的运动特性对比研究[J]. 振动与冲击, 2023, 42(3): 255-269.
MA Long1,2. Motion characteristics analyses of multi-motion mode of spherical robot with radial variable mass center. JOURNAL OF VIBRATION AND SHOCK, 2023, 42(3): 255-269.
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