For realizing omni-directional movement and operating task of spherical space robot system, this paper describes an innovated prototype and analyzes dynamic characteristics of a spherical rolling robot with telescopic manipulator. Based on the Newton-Euler equations, the kinematics and dynamic equations of the spherical robot's motion are instructed detailedly. Then the motion simulations of the robot in different environments are developed with ADAMS. The simulation results validate the mathematics model of the system. And the dynamic model establishes theoretical basis for the latter job.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Research on modeling and motion simulation of a spherical space robot with telescopic manipulator based on virtual prototype technology


    Beteiligte:
    Shi, Chengkun (Autor:in) / Sun, Hanxu (Autor:in) / Jia, Qingxuan (Autor:in) / Zhao, Kailiang (Autor:in)

    Kongress:

    Space Exploration Technologies II ; 2009 ; Orlando,Florida,United States


    Erschienen in:

    Erscheinungsdatum :

    01.05.2009





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    An omni-directional rolling spherical robot with telescopic manipulator

    Zheng Yili, / Sun Hanxu, / Jia Qingxuan, et al. | IEEE | 2008


    The dynamic analysis and control strategy of spherical robot with telescopic manipulator

    Sun, Hanxu / Zheng, Yili / Jia, Qingxuan et al. | SPIE | 2009


    Multi-foot motion simulation robot based on virtual prototype technology and simulation method

    DU QILEI / NIAN HONGTAO / LI SAI et al. | Europäisches Patentamt | 2022

    Freier Zugriff

    The dynamic analysis and control strategy of spherical robot with telescopic manipulator [7331-12]

    Sun, H. / Zheng, Y. / Jia, Q. et al. | British Library Conference Proceedings | 2009