质心径向可变球形机器人的设计与运动分析

doi:10.3901/JME.2022.05.44

机械工程学报 ›› 2022, Vol. 58 ›› Issue (5): 44-56.doi: 10.3901/JME.2022.05.44

扫码分享

质心径向可变球形机器人的设计与运动分析

马龙¹, 孙汉旭², 李明刚², 孙萍³, 张维振¹, 龙秉政¹, 史慧文¹

1. 煤炭科学技术研究院有限公司北京 100013;
2. 北京邮电大学自动化学院北京 100876;
3. 北京师范大学物理学系北京 100875

收稿日期:2021-08-11 修回日期:2021-12-02 出版日期:2022-03-05 发布日期:2022-04-28
通讯作者: 孙汉旭(通信作者),男,1960年出生,博士,教授,博士研究生导师。主要研究方向为特种机器人、空间机器人。E-mail:hxsun@bupt.edu.cn E-mail:hxsun@bupt.edu.cn
作者简介:马龙,男,1989年出生,博士。主要研究方向为移动机器人、机器人与机构学。E-mail:malong_89@126.com
基金资助:
国家自然科学基金(52075046);天地科技股份有限公司科技创新创业资金专项(2020-TD-MS001)资助项目。

Design and Motion Analysis of a Spherical Robot Having the Ability to Change the Centroid Radially

MA Long¹, SUN Han-xu², LI Ming-gang², SUN Ping³, ZHANG Wei-zhen¹, LONG Bing-zheng¹, SHI Hui-wen¹

1. China Coal Research Institute, CCTEG, Beijing 100013;
2. School of Automation, Beijing University of Posts and Telecommunications, Beijing 100876;
3. Department of Physics, Beijing Normal University, Beijing 100875

Received:2021-08-11 Revised:2021-12-02 Online:2022-03-05 Published:2022-04-28

摘要/Abstract

摘要： 面向非结构化任务环境下球形机器人的实用性提升需求,研制BYQ-GS型质心径向可变球形机器人样机,使球形机器人同时具备重摆驱动模式与倒立摆驱动模式,且2种驱动模式下均能实现质心的径向变化。考虑质心径向变化因素,同时将运动过程中受到的可控影响因素融入动力学模型构建过程,得出面向非结构化任务环境的动力学模型。以BYQ-GS型球形机器人样机为实验平台,分析倒立摆驱动模式与质心径向移动对球形机器人运动产生的影响。结果表明,与重摆驱动相比,倒立摆驱动在超调量、系统响应速度与能耗方面具有优势,在系统收敛速度与运动稳定性方面具有劣势,并且运动开始阶段质心-球心距离逐渐减小能够使2种驱动模式的控制系统收敛速度、超调量、稳定性与响应速度均变差,同时使能耗变优。

关键词: 球形机器人, 机构设计, 动力学模型, 运动分析, 质心

Abstract: In order to improve the practicability of the spherical robot in the unstructured task environment, the BYQ-GS spherical robot with the ability to change the centroid radially is developed, which not only has the heavy pendulum driving mode, but also has the inverted pendulum driving mode. Under the two different motion modes, it can both realize the radial centroid change function.The radial variation of centroid is considered, and the controllable influence factors during the motion process are integrated into the dynamic model construction process to realize the dynamics model for unstructured task environment in two motion modes. Based on the BYQ-GS spherical robot, the effects of inverted pendulum driving mode and radial movement of mass center on the motion of spherical robot are analyzed. The results show that compared with the heavy pendulum driving mode, the inverted pendulum driving mode has advantages in overshoot, response speed and energy consumption, and has disadvantages in convergence speed and stability.The reduction of the distance between the centroid and the ball center at the beginning of the movement can make the convergence speed, overshoot, stability and response speed of the two driving modes worse, and optimize the energy consumption.

Key words: spherical robot, mechanism design, dynamic model, motion analysis, centroid

中图分类号:

TH133

马龙, 孙汉旭, 李明刚, 孙萍, 张维振, 龙秉政, 史慧文. 质心径向可变球形机器人的设计与运动分析[J]. 机械工程学报, 2022, 58(5): 44-56.

MA Long, SUN Han-xu, LI Ming-gang, SUN Ping, ZHANG Wei-zhen, LONG Bing-zheng, SHI Hui-wen. Design and Motion Analysis of a Spherical Robot Having the Ability to Change the Centroid Radially[J]. Journal of Mechanical Engineering, 2022, 58(5): 44-56.

参考文献

[1] VIKRANTH D,SHANTANU T,LEENA V,et al.Motion planning for point-to-point navigation of spherical robot using position feedback[J].IEEE/ASME Transactions on Mechatronics,2019,24(5):2416-2426.
[2] 孙汉旭,肖爱平,贾庆轩,等.二驱动球形机器人的全方位运动特性分析[J].北京航空航天大学学报,2005,31(7):735-739.SUN Hanxu,XIAO Aiping,JIA Qingxuan,et al.Omnidirectional kinematics analysis on bi-driver spherical robot[J].Journal of Beijing University of Aeronautics and Astronautics,2005,31(7):735-739.
[3] 王克俊.全向轮驱动球形机器人的机构分析与研究[D].北京:北京交通大学,2017.WANG Kejun:Mechanism analysis and research of spherical robot driven by omnidirectional wheel[D].Beijing:Beijing Jiaotong University,2017.
[4] GHARIBLU H.A new mobile ball robot-dynamic modeling and simulation[J].Applied Mathematical Modelling,2015,39(10-11):3103-3115.
[5] 战强,李伟.球形移动机器人的研究进展与发展趋势[J].机械工程学报,2019,55(9):1-17.ZHAN Qiang,LI Wei.Research progress and development trend of spherical mobile robots[J].Journal of Mechanical Engineering,2019,55(9):1-17.
[6] MAO Han,ZHU Aibin,TU Yao,et al.A spherical mobile robot driven by eccentric pendulum and self-stabilizing by flywheel[C]//IEEE International Conference on Ubiquitous Robots,Kyoto,THA:IEEE,2020:169-174.
[7] 曹风魁,庄严,闫飞,等.移动机器人长期自主环境适应研究进展和展望[J].自动化学报,2020,46(2):205-221.CAO Fengkui,ZHUANG Yan,YAN Fei,et al.Long-term autonomous environment adaptation of mobile robots:State-of-the-art methods and prospects[J].Acta Automatica Sinica,2020,46(2):205-221.
[8] ALATISE M B,HANCKE G P.A review on challenges of autonomous mobile robot and sensor fusion methods[J].IEEE Access,2020,8:39830-39846.
[9] 岳明.双驱动球形机器人及其运动控制的研究[D].哈尔滨:哈尔滨工业大学,2008.YUE Ming.Study on a dual-drive spherical robot and its motion control system[D].Harbin:Harbin Institute of Technology,2008.
[10] 赵勃,王鹏飞,孙立宁,等.双偏心质量块驱动球形机器人的直线运动控制[J].机械工程学报,2011,47(11):1-6.ZHAO Bo,WANG Pengfei,SUN Lining,et al.Linear motion control of two-pendulums-driven spherical robot[J].Journal of Mechanical Engineering,2011,47(11):1-6.
[11] 史成坤.一种紧急救援的带臂球形机器人的研究[D].北京:北京邮电大学,2010.SHI Chengkun.Research on a spherical robot with manipulator used in emergency rescue[D].Beijing:Beijing University of Posts and Telecommunications,2010.
[12] 王迎春.一种球形月球探测机器人的机构设计与路径规划研究[D].北京:北京邮电大学,2010.WANG Yinchun.The mechanical design and path planning of spherical lunar exploration robot[D].Beijing:Beijing University of Posts and Telecommunications,2010.
[13] 兰晓娟.一种新型水下球形机器人的若干关键技术研究[D].北京:北京邮电大学,2011.LAN Xiaojuan.Research on several key technologies of a new underwater spherical robot[D].Beijing:Beijing University of Posts and Telecommunications,2011.
[14] MA Long,SUN Hanxu,LAN Xiaojuan.Dynamic response and damage assessment of spherical robot GFRPspherical shell under low velocity impact[J].Materials Testing,2020,62(7):703-715.
[15] 王保玉,李祖海,刘翠梅.两类拉格朗日方程的比较[J].大学物理,2006(2):19-22.WANG Baoyu,LI Zuhai,LIU Cuimei.Comparison of two kinds of Lagrange equations[J].College Physics,2006(2):19-22.
[16] WU Hsiuming,KARKOUB M.Hierarchical fuzzy sliding mode adaptive control for the trajectory tracking of differential-driven mobile robots[J].International Journal of Fuzzy Systems,2019,21(1):33-49.
[17] ZHU Zhanxia,ZHONG Jianfei,WANG Mingming,et al.Trajectory planning and hierarchical sliding-mode control of underactuated space robotic system[J].International Journal of Robotics & Automation,2020,35(6):436-443.
[18] 哈尔滨工业大学理论力学教研室.理论力学(Ⅱ)[M].北京:高等教育出版社,2017.Theoretical Mechanics Department of Harbin University of Technology.Theoretical mechanics (Ⅱ)[M].Beijing:Higher Education Press,2017.
[19] 毕学涛.高等动力学[M].天津:天津大学出版社,1994.BI Xuetao.Advanced dynamics[M].Tianjin:Tianjin University Press,1994.

质心径向可变球形机器人的设计与运动分析

Design and Motion Analysis of a Spherical Robot Having the Ability to Change the Centroid Radially

PDF

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 15

编辑推荐

Metrics

本文评价

[1]	张行, 富宽, 陈铭浩, 李睿, 石新娜. 压差式多节串联管道机器人越障时动力学演化规律及减振分析[J]. 机械工程学报, 2024, 60(8): 348-359.
[2]	张立元, 杨锦波, 李澳, 杨庆凯, 徐光魁. 张拉整体球形机器人构型设计与控制研究进展[J]. 机械工程学报, 2024, 60(5): 1-18.
[3]	赵萍, 张涯婷, 程悦, 徐宏伟, 訾斌. 基于敏感度分析的单自由度Stephenson机构多目标轨迹综合方法[J]. 机械工程学报, 2024, 60(5): 59-69.
[4]	孙梦楠, 董祉序, 徐威, 孙兴伟, 刘伟军. 基于改进低秩稀疏分解的光斑图像降噪方法研究[J]. 机械工程学报, 2024, 60(2): 17-26.
[5]	曹杰, 任尊松, 查浩, 徐宁, 杨超. 高速动车组齿轮箱轴承载荷特性研究[J]. 机械工程学报, 2024, 60(15): 173-184.
[6]	邓智铭, 黄土地, 黄洪钟, 尉询楷, 王浩. 变工况条件下角接触球轴承疲劳剥落故障演化加速试验载荷谱研究[J]. 机械工程学报, 2024, 60(13): 193-204.
[7]	潘杰, 于靖军, 裴旭. 柔性手爪机构设计与变刚度技术研究发展综述[J]. 机械工程学报, 2024, 60(13): 281-296.
[8]	张树新, 于亦奇, 曹政, 李拓, 罗康. 可重复展收单折伞状天线机构创新设计与实验验证[J]. 机械工程学报, 2023, 59(3): 13-21.
[9]	邓磊鑫, 谢清林, 陶功权, 温泽峰. 基于轴箱振动与动力学模型驱动的高速列车车轮失圆状态识别方法[J]. 机械工程学报, 2023, 59(3): 110-121.
[10]	陈彪, 江浩斌, 栗欢欢, 赵钱, 王天鸶. 基于气液动力学热耦合模型的动力电池SOC估算[J]. 机械工程学报, 2023, 59(22): 163-175.
[11]	熊万里, 曾旭, 张翰乾, 李媛媛, 原帅, 金志鑫. 全液体静压支承结构磨削系统的磨削成圆规律及圆度极限预测[J]. 机械工程学报, 2023, 59(21): 85-98.
[12]	杨绍普, 顾晓辉, 刘永强, 邓飞跃, 刘泽潮, 刘文朋, 王宝森. 转向架关键运动部件动力学机理与故障诊断研究综述[J]. 机械工程学报, 2023, 59(20): 225-243.
[13]	赵嘉浩, 訾斌, 王威, 李元, 徐锋. 刚柔复合驱动并联喷涂机器人机构设计与工作空间分析[J]. 机械工程学报, 2023, 59(15): 28-39.
[14]	丁孺琦, 王振, 程敏, 徐兵, 刘子辰. 基于模型控制的液压机械臂高精度轨迹跟踪[J]. 机械工程学报, 2023, 59(14): 298-309.
[15]	李春明, 鲍珂. 基于载荷传递路径的履带车辆多层级耦合动力学建模与分析[J]. 机械工程学报, 2023, 59(13): 157-174.