The invention discloses a gyro stabilization principle-based hybrid drive mode spherical robot which comprises a shell, a main supporting structural member is arranged in the shell, and a steering assembly is arranged on the inner side of the main supporting structural member. A die steel momentum wheel driven by a momentum wheel motor is used as a gyroscope, a stable platform which is static relative to an inertial system is obtained by utilizing the coaxiality of the gyroscope, and a force is applied to the platform to enable the robot to obtain the acceleration relative to the inertial system, so that the movement of the robot is realized; the attitude of the spherical robot is updated by the original data acquired by the six-axis gyro attitude sensor, and then the attitude balance of the spherical robot is adjusted by using the cascade PID, so that the spherical robot can realize non-jittering linear motion; and a metal steering engine, a die steel momentum wheel, a momentum wheel motor and a driving motor coordinate with one another to drive the shell to move in different modes, and two steering modes of in-situ steering and arc steering are achieved at the same time.

    本发明公开了一种基于陀螺稳定原理的混合驱动模式球形机器人,包括壳体,所述壳体内设置有主支撑结构件,所述主支撑结构件的内侧设置有转向组件。本发明通过动量轮电机驱动的模具钢动量轮作为陀螺,利用陀螺的定轴性得到一个相对惯性系静止的稳定平台,对这个平台施力使机器人获得相对于惯性系的加速度,从而实现机器人的运动,六轴陀螺姿态传感器获取的原始数据对球形机器人姿态进行更新,再用串级PID调节球形的姿态平衡,使得球形机器人可以实现不抖动的直线运动,还通过金属舵机、模具钢动量轮、动量轮电机、驱动电机相互协调工作驱动壳体以不同的方式进行运动,同时实现原地转向和弧形转向两种转向方式。


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    Title :

    Hybrid drive mode spherical robot based on gyro stabilization principle


    Additional title:

    一种基于陀螺稳定原理的混合驱动模式球形机器人


    Contributors:
    HAN YANFEI (author) / SHENG LI (author) / XU TIANZE (author) / LIU YUANYUAN (author)

    Publication date :

    2022-09-30


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / B60K Anordnung oder Einbau von Antriebseinheiten oder von Kraft- bzw. Drehmomentübertragungen in Fahrzeugen , ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES / B60Q ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL , Anordnung von Signal- oder Beleuchtungsvorrichtungen, deren Einbau oder Halterung oder deren Schaltkreise bei Fahrzeugen allgemein



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    Scott, E.D. | Engineering Index Backfile | 1964


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    Langford, Robert C. / Mundo, Charles J. | AIAA | 1964