The invention discloses a mobile spherical robot which is provided with two momentum wheels which are orthogonally distributed, and the momentum wheels are respectively used for controlling a roll angle and a yaw angle of the mobile spherical robot; the whole chassis is used as a pendulum drive to control the moving spherical robot to advance and retreat; the mobile spherical robot is relatively simple in structure and can be manufactured with relatively low cost; according to simulation and real machine test results, the moving spherical robot is high in movement flexibility and has certain long-distance cruising ability; a sensor and an actuator carried on the platform can be replaced, and the material and the shape of an external spherical shell can adapt to various different environments to execute different task functions.

    本发明公开了一种移动球形机器人,该移动球形机器人设计两个正交分布的动量轮,分别用于控制移动球形机器人的横滚角和偏航角;整个底盘作为摆驱动以控制移动球形机器人的前进和后退;该移动球形机器人的结构较为简单,并能以较低的成本制作;根据仿真和实机测试结果所示,本发明的移动球形机器人运动的灵活性高且具有一定的长远距离续航能力;还可更换平台上搭载的传感器和执行器,且外部球壳材质和形状能够适应各种不同的环境,执行不同的任务功能。


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    Title :

    Mobile spherical robot


    Additional title:

    一种移动球形机器人


    Contributors:
    ZHU LIJUN (author) / CHEN MINGXU (author) / ZHANG WENTAO (author) / TIAN XINCHAO (author) / SHI YIHONG (author)

    Publication date :

    2024-01-26


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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