Modeling and Simulation of a Spherical Mobile Robot

被引：15
作者：
Sang Shengju [1 ,2 ]
Zhao Jichao [2 ]
Wu Hao [1 ]
Chen Shoujun [1 ]
An Qi [1 ]
机构：
[1] E China Univ Sci & Technol, Sch Mech & Power Engn, Shanghai 200237, Peoples R China
[2] Taishan Coll, Sch Informat Sci & Technol, Tai An, Shandong, Peoples R China
来源：
COMPUTER SCIENCE AND INFORMATION SYSTEMS | 2010年 / 7卷 / 01期
关键词：
spherical mobile robot (SMR); simulation; ADAMS; virtual prototype; kinematics and dynamic; mathematical model;
D O I：
10.2298/CSIS1001051S
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Spherical mobile robot (SMR) has been studied analytically and experimentally in this paper, a novel design with an internal propulsion mechanism and mathematical models of the robot's dynamics and kinematics are introduced. A 3D model of robot is built by SOLIDWORKS and then exported to ADAMS2007 for simulation. The results of simulation by combining MATLAB / SIMULINK with ADAMS are presented. It is shown experimentally that the behavior of actual model consist well with the prediction of simulation.
引用
收藏
页码：51 / 62
页数：12
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