A novel design of a two-wheeled robot

被引：0
|
作者：
Ha, Qingxuan [1 ]
Cao, Xiaowei [1 ]
Sun, Hanxu [1 ]
Song, Jingzhou [1 ]
机构：
[1] Beijing Univ Posts & Telecommun, Automat Sch, Beijing 100876, Peoples R China
来源：
ICIEA 2007: 2ND IEEE CONFERENCE ON INDUSTRIAL ELECTRONICS AND APPLICATIONS, VOLS 1-4, PROCEEDINGS | 2007年
关键词：
spherical robot; two-wheeled robot; kinematics; dynamics analysis;
D O I：
暂无
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
According to the theory of spherical robot which invented by our laboratory, we designed a novel designed two-wheeled robot It possesses many salient advantages when compared to traditional mobile robots for its special characters, including self-balance, anti-overturn, and the rests. Its primary driving-method and structure-design are analyzed and optimized in this paper. Moreover, in this paper, the kinematics model has been established to analyze the moving track of the two-wheeled robot. In addition, the dynamics model based on the circular-plate model has been built to analyze the climbing capacity and the obstacle performance, so as to get the optimum ratifications of the parameters to improve those abilities. Besides, we have manufactured a prototype of this two-wheeled robot, and do some experiments to test the function of this robot, including the maximum speed, the fixed touted movements, and the capability of climbing. And the result coincides with the designed alms.
引用
收藏
页码：1226 / 1231
页数：6
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