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传统的移动机器人往往只具有单一的运动模式,因此环境适应能力较弱。从提高移动机器人的环境适应能力角度出发,设计了一种新型两栖移动机器人。首先描述了该机器人的机械结构与控制及传感系统,并阐述了机器人通过对4个旋翼的转动速度和方向进行配置,从而实现其在空中飞行或在地面滚动的运动学原理。然后通过牛顿第二定律与欧拉方程对机器人进行了动力学建模,所得的动力学模型同时适用于机器人的空中飞行和地面滚动。最后通过试验验证该两栖机器人能够实现预期的两种运动模式,以证实其能够提升传统的移动机器人的环境适应能力。
Traditional mobile robots tend to have only a single mode of movement, so the environment adaptability is weak. In order to improve the environment adaptability of mobile robot, a new type of amphibious mobile robot is designed. Firstly, the mechanical structure, control and sensing system of the robot are described. The kinematics of the robot flying through the air or rolling on the ground is illustrated by configuring the rotation speed and direction of the four rotors. Then the dynamics of the robot are modeled by Newton ’s second law and Euler equation, and the resulting dynamic model is suitable for both the aerial flight of the robot and the ground rolling. Finally, the experiment verifies that the amphibious robot can achieve the expected two modes of motion to prove that it can enhance the environmental adaptability of the traditional mobile robot.