Research On Body Structure And Dynamic Control Method Of 6-dof Unicycle Robot

As an brand-new concept of mobile robot, the unicycle robot is a multivariable, strong coupled and non-linear complex dynamic system, which cannot move freely as the two-wheeled robot under the influence of dynamic interactions and the omni-directional unsteady attitude. Therefore, the posture stabilization of free-motion and improvement of the movement efficiency has been left as an open-up issue nowadays. The attitude unstabilization and dynamic equilibrium problem for maintain stable movement is a big chanllenge for the researchers of control theory and dynamic problem.This paper proposes a new structure concept with self-rotation function based on the pre-designed 5-DOF unicycle robot model, which has low movement efficiency and cannot move freely. Considering the maneuverability of unicycle robot, the steering is realized through the control for the inertia pendulum installed horizontally on the middle part of robot body. Then the 6-DOF unicycle robot model for free-motion function is designed. And the physical prototype is manufactured based on the virtual prototype, laying the foundations for the development of experimental platform.Considering robot's structure determining the robot's dynamic model and its ability to control dynamic balance and motion control, this paper study the 6-DOF unicycle robot from dynamics modeling, attitude control algorithm, motion control simulation analysis, mechanical parameters optimization research and other aspects of the robot.Through analyzing the kinematics of the robot, the dynamic equation is established by using Lagrange formulation, then, this article presents the posture stabilization control scheme for the robot, which is the gain scheduling controller and the fixed gain controller. The feasibility of the unicycle robot model and the gain scheduling are verified using mathematical methods. This paper also discusses the methon of steering of control, thus we realize the posture control of the robot in various conditions. Through MATLAB simulating test, this paper verifies the effectiveness of the dynamic and control algorithm. This paper, compared with the fixed gain controller, incarnates the advancement of the gain scheduling controller.And using the virtual prototype technique based on ADAMS, the robot model is studied by analyzing simulating test. Finally, the body of the robot, which is for free motion function, is designed independently, and the functions of the subsystems are introduced in detail.