Spherical Robot Motion Analysis And Control Studies

Spherical robot is a mobile robot that realizes its own motion by scrolling sphere shell, with characteristics like small turning radius, sports omnidirectional. It has a broad application prospect in civilian and military field. This paper mainly studies the spherical robot structure design, kinematics and dynamics analysis, feedback control system research and electrical control design.Spherical robot has many kinds of structures, whose movement principle is to realize sphere rolling along arbitrary direction by changing the position of counterweight's center. Based on the summarization of existing spherical robots structures, this paper puts forward a new structure scheme of dual drive of spherical robot, and its main source of power are driving stepping motors and turning stepping motor. In order to research the spherical robot athletic performance, this paper firstly established the kinematics and dynamics equation, theoretical analyzed the state motion of spherical robot; Then, simulation model is established based on ADAMS virtual prototype software, get the state variables of spherical robot changing curves,and compares with the theoretical values. At the same time, the length and velocity of beam, counterweight and other factors which influence the velocity of movement are analyzed, the main factors that influence sphere movement are summarized; Finally, the spherical robot's performance is studied when it tuning, crossing obstacle, and climbing.Mechanical-electromechanical control is core part of spherical robot control, which determines the realization of spherical robot's function and advantages and disadvantages of the function, mainly including hardware and software's realization of spherical robot motion control system. The communication between the spherical robot and the PC controller, battery power detection and stepping motor control are the most important component parts of the whole control part. According to the relationship between motor roating speed with sphere angular velocity and the beam angular velocity, spherical robot closed-loop control system is established, through the feedback control make spherical robot posture relative stability, then established co-simulation with ADAMS/control and MATLAB/simulink.This paper laies a good foundation for spherical robot's development, and provide the practical method and technical support for the deeper exploration.