文献类型：期刊文献

英文题名：Prototype Design and Motion Analysis of a Spherical Robot

作者：Sang, Shengju[1,2]; Shen, Ding[2]; Zhao, Jichao[2]; Xia, Wei[2]; An, Qi[1]

机构：[1] School of Mechanical and Power Engineering, East China University of Science and Technology, Shanghai, 200237, China; [2] School of Information Science and Technology, Taishan College, Shandong Taian, 271021, China

年份：2011

卷号：134

期号：PART 1

起止页码：284

外文期刊名：Communications in Computer and Information Science

收录：EI(收录号：20133116565896)

语种：英文

外文关键词：Machine design - Motion analysis - Computer software - Robots - Spheres

摘要：This paper describes a prototype analytical studies of a spherical robot with an internal mechanism for propulsion. The spherical robot is actuated and steered through a couter-weight pendulum connected to the main axle, a driving motor and a steer motor. On the basis of the structural characteristics of the spherical robot, its dynamic model is derived by applying the Lagrange-Routh equations briefly. The simulation model is established based on ADAMS software. The dynamic analysis and simulation are given to verify the validity of this design. ? Springer-Verlag Berlin Heidelberg 2011.