Develop The Mechanical Body Structure Of Unicycle Robot

The body structure of a robot is the basis of robot system, and it is the effectiveentity for various experiments and practical application. As a kind of static instability ofself-balancing robot, the unicycle robot is a multivariable, underactuated， strongcoupling and non-linear nonholonomic system, which has very complex dynamicsequation. The design of the unicycle robot’s control algorithm is a big problem in thefield of study. The body structure of unicycle robot has a great influence to the design ofits control system, so it’s very important to develop a reasonable and optimized unicyclerobot ontology organization, in order to simplify the complexity of the control systemdesign.This paper presents a new body structure of a6-DOF unicycle robot with self-rotation function based on the vertical rotor structure model. This lay the foundation forlater attitude stability control experimentBy analyzing the motion law of6-DOF unicycle robot, the ideal dynamic model isestablished and the kinetic equation is established by using Kane method. Based on thekinetic equation, designs a state space model and linearizes the state space modelaround an equilibrium point of the unicycle robot. Then, the state feedback controlalgorithm of the unicycle robot is designed by using pole assignment method.According to unicyclel robot state feedback control algorithm, using MATLAB todo simulation analysis for the structure parameters of the unicycle robot, and the initialvalue range of structure parameters is obtained.According to the initial value range of the structure parameters, using Pro/E toestablish the3-d model of the unicycle robot, The body structure of the unicycle robotwith self-rotation function is designed, and the functions of the subsystems areintroduced in detail. Finally, machining and assembling the unicycle robot mechanicalentities.Using the virtual prototype technique based on ADAMS to simulate dynamicbalance, anti-interference, steering motion of the unicycle robot, meanwhile, the lateralbalance experiments are done. This verifies the rationality of mechanism design and thereliability of the control algorithm.