一种空间正交四边形滚动机器人

摘要/Abstract

摘要： 为使机器人仅利用较少的自由度就可实现移动及转向，提出了一种具有空间正交四边形几何形态的新型滚动机器人.该机器人本体是一个14杆16副的空间连杆机构，由2个平台和4条支链构成，外观形态为一对空间正交的四边形.并基于其自由度与运动原理，分析了该机器人的稳定性和滚动方向，进行了运动仿真.制作了一台原理样机进行实验以验证概念的可行性.实验结果表明，该机器人能够在2个驱动器控制下以翻滚步态实现全方位移动.

关键词: 球形机器人, 滚动, 变形

Abstract: To make the robot move and turn with only a few degrees of freedom, a new rolling robot with the geometry configuration of two spatialcrossed parallelograms was proposed. The structure of the robot is a spatial mechanism consisting of 14 links and 16 joints. The robot is composed of two platforms and four limbs and has the apparent configuration of two spatialcrossed parallelograms. Based on the moving principle and its degree of freedom, the stability and rolling direction were analyzed. The kinematic simulation was performed. Finally, a prototype was developed to verify the feasibility of the proposed concept. The experiments testify its omnidirectional movement realized by the rolling gait under the control of two actuators.

Key words: spherical robot, rolling, deformation

中图分类号:

TP 24

郝艳玲, 刘长焕, 谢基龙, 姚燕安. 一种空间正交四边形滚动机器人[J]. 上海交通大学学报（自然版）, 2012, 46(06): 949-955.

HAO Yan-Ling, LIU Chang-Huan, XIE Ji-Long, YAO Yan-An. A Two Spatial-Crossed Parallelograms Rolling Robot[J]. Journal of Shanghai Jiaotong University, 2012, 46(06): 949-955.

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