Research On Kinematic Characteristics And Balance Control Of The Essboard-like Robot

With the development of robot technology,people have been able to achieve the balance and motion control of specific unicycles,two wheeled vehicles and bicycles,and develop them into wheeled self-balancing mobile robots.The Essboard also belongs to the wheeled vehicles,which has two passive wheels arranged in front and back,and has different movement characteristics from the ordinary two-wheeled vehicles and bicycles.However,at present,the research on the Essboard is not enough,and it can not accurately reveal the kinematic constraint relationship among its components,and it is still lack of research on its motion decomposition and further balance control,and it can not be developed into a new type of selfbalancing mobile robot.In order to solve these problems,this paper studies the Essboard system.The specific work of this paper is as follows:1)Through the analysis of the Essboard system,the geometric model of the Essboard is abstracted.Then,according to the holonomic and nonholonomic constraints of the two wheeleds contacting the ground,the holonomic and nonholonomic constraint equations of the Essboard system are derived respectively,and they are combined into a unified differential equation.Further,using the virtual prototype technology,the holonomic constraint equation is verified by simulation.Subsequently,in order to solve the steering angle of the front bogie through the roll angle of the front pedal easely,the holonomic constraint equation is reasonably simplified,and the simplified equation is verified by experiments on a physical prototype of the Essboard.In addtion,the "hysteresis" between the pedal roll angle and the bogie steering angle in the Essboard system is further studied.2)Based on the analysis of the motion of the Essboard,the motion of the Essboard is decomposed,and the left-right motion of the Essboard is equivalent to the inverted pendulum model.Furtherly,Essboard is developed into a new type of wheeled self-balancing mobile robot named Essbot by using the model of flywheel inverted pendulum.Finally,the methods of balance control and motion control for Essbot are proposed.3)Using ADAMS virtual prototype simulation technology,the balance control and motion control of Essbot are simulated and verified.The simulation results verify the effectiveness of the concept of Essbot and the control methods.4)According to the design concept of Essbot,the robot systems of Essbot are designed in detail,including the design of mechanical system,electrical system and software system.5)Furthermore,the influence of different rotation laws of the rear pedal on the movement of Essbot are studied,mainly including the influence of rotation amplitude,rotation period and average amplitude on the movement of Essbot.