同轴双偏心球形机器人的系统设计与研究
System Design and Research of Coaxial Double Eccentric Spherical Robot
摘要: 本文探讨了同轴双偏心球形机器人的系统设计，旨在提高其运动的灵活性和精度。它首先对机器人的设计原理、结构特点和作用机构进行了详细分析。重点放在机器人在各种作业条件下的性能上，重点关注运动精度、响应速度和稳定性等关键指标。拉格朗日动力学方程是针对同轴双偏心质量驱动球形机器人推导的，包括线性、转向和爬升运动以及初级耗散函数。仿真和实验结果表明，该机器人具有出色的动态特性，尤其是在准确性和稳定性方面。此外，还引入了基于S曲线的启动策略来优化启动性能。这种方法通过逐渐加速和减速机器人，减少快速加速产生的振动和冲击，确保在启动过程中实现平稳过渡。改进的启动平稳性和动态响应增强了机器人的整体稳定性和可靠性。本研究为球形机器人的运行提供了理论和实践见解，为该领域未来的研究和应用提供了坚实的基础。
Abstract: This paper discusses the system design of coaxial double eccentric spherical robot, aiming to improve their flexibility and accuracy of motion. Firstly, the design principle, structural characteristics and operating mechanism of the robot are analyzed in detail. The focus is on the performance of the robot under various operating conditions, focusing on key indicators such as motion accuracy, response speed and stability. Lagrange dynamic equation is derived for spherical robot driven by coaxial double eccentric mass, including linear, steering and climbing motion and primary dissipation function. Simulation and experimental results show that the robot has excellent dynamic characteristics, especially in accuracy and stability. In addition, the startup strategy based on S-curve is introduced to optimize the startup performance. By gradually accelerating and decelerating the robot, this method can reduce the vibration and impact caused by rapid acceleration and ensure a smooth transition in the starting process. The improved starting stability and dynamic response enhance the overall stability and reliability of the robot. This research provides theoretical and practical insights for the operation of spherical robots, and provides a solid foundation for future research and application in this field.
文章引用：黎铭威, 于大泳, 程雨奇. 同轴双偏心球形机器人的系统设计与研究[J]. 建模与仿真, 2025, 14(4): 1212-1224. https://doi.org/10.12677/mos.2025.144367

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