关键词: 动态性能, 分析, 机器人学, 足球机器人

Abstract: Soccer robot needs start and stop frequently during the match. It should repeatedly accelerate and decelerate. It must adjust its position and orientation at least thirty times per second. For all these reasons, soccer robot must possess good dynamical performances. By analyzing the forces exerted on the robot, equations about the dynamical performances are derived. The factors influencing on the dynamical properties are analyzed and some valuable conclusions are obtained. To make the robot start rapidly the radius of the driving wheel should be properly big and the output torque of the motor be large. The start acceleration should not be greater than about half a gravity acceleration. The speed should not be too high in order to avoid side slide during curvilinear movement. They are important for the design of the robot with good dynamical performances and valuable for the use of the robot.

Key words: Analysis, Dynamical performance, Robotics, Soccer robot