Research On The Rolling And Jumping Compound Motion Spherical Robot

Complex and unknown areas in deep space exploration present major challenges to the motion ability of current space robots.Different from the traditional single-mode motion space robot,a rolling and jumping compound motion spherical robot has strong flexible motion and strong obstacle climbing ability.So,the spherical robot can better adapt to the complex deep space environment.Based on the research status at home and abroad,a kind of compound motion spherical robot with flexible motion and strong obstacle climbing ability is proposed.The main research work of this thesis is as follows:(1)An overall design scheme of compound motion spherical robot is proposed,which the spherical robot rolling driven by single pendulum,steering adjusted by rack and jumping controlled by incomplete gear.According to the overall design scheme,the mechanical structure of the spherical robot is designed by using CREO software.In addition,the design parameters that affect the motion performance of the spherical robot in the process of mechanical structure design are analyzed and discussed.(2)The spherical robot system is abstracted as a multi-body system,which the motion of the spherical robot is divided into basic motion modes: rolling,climbing,turning and jumping.Based on the constraint condition that the rigid body has no relative sliding relative to the ground,the dynamic equations of rolling and climbing are established through the second kind of Lagrange,the dynamic equations of steering are established by using geometric characteristics and torque balance,and the dynamic equations of jumping motion are established based on the energy conservation theorem.Explore the relationship between design parameters and motion performance,and prepare for calculating the theoretical motion performance of laboratory prototype.(3)Based on ADAMS,the dynamic simulation of rolling,steering,climbing and jumping of the spherical robot is carried out,which verifies the feasibility of the design scheme.And the motion performance simulation value of spherical robot is solved by the dynamic simulation.Based on ANSYS,the static simulation of three working conditions(before jumping,rolling and landing)are carried out,which verifies the safety of parts in the design scheme.(4)Based on the design scheme,the spherical robot is processed,manufactured and debugged.The rolling,turning,climbing and jumping functions of the spherical robot are studied,and the maximum rolling speed,minimum turning radius,maximum climbing angle and maximum jumping height are tested.And according to the theoretical model calculation,simulation and experimental results,the rolling and jumping compound motion spherical robot designed scheme in the thesis is reasonable.The dynamic equations of rolling,turning,climbing and jumping are concise,accurate and reliable.And the motion performance of the laboratory protype is good.