文献类型：期刊文献

英文题名：Modeling and Simulation of a Spherical Mobile Robot

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

年份：2010

卷号：7

期号：1

起止页码：51

外文期刊名：COMPUTER SCIENCE AND INFORMATION SYSTEMS

收录：;WOS:【SCI-EXPANDED(收录号:WOS:000276234000006)】；

基金：The work was partially supported by the Natural Science Foundation of Shandong, China (2009ZRA01105), the science and technology development fund of Taran (20083002) and the Foundation provided by Taishan College (Y06-2-15).

语种：英文

外文关键词：spherical mobile robot (SMR); simulation; ADAMS; virtual prototype; kinematics and dynamic; mathematical model

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.