Centroid radial variable three-drive spherical robot with double control modes

Abstract

The invention discloses a centroid radial variable three-drive spherical robot with double control modes, which comprises a spherical shell, a drive motor, a heavy pendulum and a heavy pendulum lifting system. The spherical shell is connected with an X-axis motor rotor; an X-axis motor, a Y-axis motor and a Z-axis motor are respectively arranged on the outer surfaces of each shaft frame; the heavypendulum lifting system consists of a linear module, a gear system, a lifting motor and an auxiliary battery system. According to the invention, the radial change of the centroid of the spherical robot can be achieved through the movement of the heavy pendulum in the heavy pendulum lifting system, so that the spherical robot has double control modes, namely, a counterweight driving control mode and an inverted pendulum driving control mode, the conversion of the two control modes can be achieved, the micro adjustment of the running speed and attitude of the spherical robot under the conditionof constant moment output can be achieved, and the requirements of high response speed and accurate control of the spherical robot under multiple current application occasions can be met.

Description

technical field [0001] The invention relates to a spherical robot, in particular to a center-of-mass radial variable three-drive spherical robot with double control modes. Background technique [0002] At present, mobile robots are widely used in space monitoring, national defense, environmental monitoring, disaster relief, archaeological exploration, home entertainment, etc. Traditional mobile robots are driven by wheels or tracks. This driving method can move flexibly on flat roads, but its movement on uneven roads will be greatly restricted. Due to its special structure, the spherical robot has very low requirements on road conditions, so it has strong adaptability; when it moves, it is in point contact with the ground, and the friction during movement is rolling friction, with small resistance, and can move flexibly in all directions. [0003] At present, several spherical robots with different structures have been developed at home and abroad. The world's first spheri...

AI Technical Summary

Problems solved by technology

The two-drive spherical robot uses two drive motors to drive the counterweight to rotate around two mutually perpendicular axes in the ball. It is a non-complete underactuated mechanism. The use of two drive motors reduces the cost. Simplifies, but also complicates motion planning

The four-drive spherical robot is mostly a spoke structure, and is driven by four motors. Using four motors to work together greatly increases the cost, and the structure is complex, which increases the difficulty of control.

Because the differential speed control is complex and difficult to implement, it is difficult to meet the requirements of high response speed and precise control. At the same time, the installation positions of the three motors are difficult to meet the requirements of the overall mechanism balance design of the spherical robot.

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