The Kinetic Characteristics And Operational Task Of BYQ-4 Spherical Robot

With the dynamic development of the science and technology, the robot especially the mobile robot is growing gradually. Spherical robot is a kind of mobile robot with a fully-enclosed spherical or spheroid housing. The sperical robot is characterized by agile motion, it can both roll in any direction and turn with zero radius. On this basis, a spherical robot with operational capability is designed by installing a telescopic manipulator. This thesis is sourced from the national 863 plan named "The Research and Development of a Universal Rolling Spherical Robot with Manipulator" (Project No.: 2006AA04Z243). Based on the virtual prototype technology, the thesis which deals with a spherical robot with telescopic manipulator, presents a research on kinematics and dynamics. In details, the following aspects are conrained in this thesis.At the first beginning, concerned essentially with the spherical robot drived by changing its center of gravity, this thesis develops the general dynamic model by using newton-euler method and Lagrange's equation. The dynamic model is verified by simulating with ADAMS, and the effect of structure parameter on dynamic property is obtained, which is a effective attempt to combine the dynamic research with structral design.Sencondly, the thesis researched on the oprational capability of the spherical robot with telescopic manipulator. On the one hand, the kinetics of the telescopic manipulator, including work space of the arm and characteristic of the manipulator, is presented; on the other hand, operational task of the robot is planned, which is verified by the simulation results of ADAMS. The plan of the operational task can effectively solve the operational problem of the spherical robot.Thirdly, according to the material mechanics and elasticity mechanics, the distribution plot of the displacement, stress and strain by finite element software ANSYS is obtained. The result verifies the model and calibrates the strength of the spherical robot's shell.Finally, the prototype of the spherical robot with telescopic manipulator is tested to prove the preceding result of the research.