The Research Of The Double Swing Omni-directional Motion Spherical Mobile Robot

To explore the unknown domain associated with human constant expansion of the continuous deepening process and, in some bad environment, we usually see around the wheel, caterpillar and foot type robot is hard to play a role. Have the spherical shell and sports flexible spherical robot can in some without human intervention bad environment (such as the planet, field and so on plays its role. Spherical robot as a new robot, application scope expands gradually, such as industrial and civil, national defense and space exploration, etc.This paper summarizes the current research status of spherical robot, a new type of spherical robot-double put the spherical mobile robot to exercise the research subject. This thesis mainly research work are as follows:First of all, on the analysis of spherical robot and traditional wheel, caterpillar and foot type based on the advantages and disadvantages of robot, this paper expounds the origin of this topic, and significance at home and abroad, and the present situation of spherical robot kinematics and dynamics and its analysis, this paper tries to explain the summarized the main contents.Second, through the movement of double pendulum to spherical mobile robot theory analysis, determined the design goal, combined the two common driving form within, determined the whole double pendulum to exercise the design scheme of spherical mobile robot, plan and preliminary control scheme. Then the paper analyzes the motion principle, and through the Inventor of the overall design of the robot.Again, on the double put the motion to spherical mobile robot kinematics and dynamics analysis. Analyzing the motion characteristics, and then, established the movement model and dynamics model, and discussed the nonholonomic system dynamics modeling of the main method. MATLAB/Simulink application analysis of the robot dynamic equation, with ADAMS/View joint simulation, test equation is correct. Virtual prototype analysis, in this paper based on the principle of robot simulation, in ADAMS/View of modeling respectively, dynamics motion simulation, from the simulation results show that the straight line, turning to it, climbing the principle of movement analysis is correct.At last, we analyze the movement of a robot path planning. In this paper, the concept and function problems planning decomposition based on the way and method, respectively, several path planning control algorithm.