环境探测的风力驱动多形态球形机器人的研究

项目名称： 环境探测的风力驱动多形态球形机器人的研究

项目编号： No.50875193

项目类型： 面上项目

立项/批准年度： 2009

项目学科： 金属学与金属工艺

项目作者： 李团结

作者单位： 西安电子科技大学

项目金额： 35万元

中文摘要： 提出了两种新构型的球形机器人，即风力驱动的多形态球形机器人和内外混合驱动的球形机器人。研究了这两种类型球形机器人各种运动方式的约束、切换条件及力学关系，建立了各种运动方式的运动模型及各模型间的连接关系，编制了相应的分析仿真程序，分析了不同环境参数及结构参数对这两种类型球形机器人运动性能的影响，研制了这两种类型球形机器人的原理样机，完成了实验测试。研究了环境探测球形机器人运动仿真方法，包括三维实体地形生成技术和环境探测机器人虚拟样机技术，开发了一套移动探测机器人在复杂地形环境中的运动仿真平台。该平台能真实地模拟机器人在各种地形上的运动、实时显示机器人的运动状态，为移动机器人提供了仿真测试环境。这两种球形机器人结构简单、能耗小、成本低，可用于地球上的沙漠、火山、极地等特殊环境和月球、火星等行星的远距离大范围环境探测。所取得的理论与方法也可应用于其他风力驱动移动机器人的运动建模及分析仿真。 共发表论文10篇，SCI/EI/ISTP检索2/8/2篇；获国家发明专利授权2项，软件著作权1项。

中文关键词： 风力驱动；球形机器人；建模与分析；环境探测

英文摘要： Two novel configurations of spherical robots, the wind-driven multiple shapes spherical robot and the internal and external hybrid-driven spherical robot, are presented. The constraints, switching conditions and mechanical relations of the multiple motion regimes of the spherical robots are analyzed. Motion models of the multiple motion regimes and the relationships among them are established. The corresponding simulation programs are developed to analyze the influences of different environmental and structural parameters on the movement performances of the spherical robots. The principle prototypes of the spherical robots are manufactured, and the experimental tests are carried out. The methods of movement simulations of the spherical robots for environmental explorations are investigated, including the three-dimensional entity terrain generating technology and the virtual prototypes modeling technology. The movement simulation platform is developed for mobile robots explorating complex terrain environments. This platform can simulate the movements of robots in various terrains, and display the motion performance, which provides the test environments for mobile robots. The designed spherical robots have the advantages of simple structure, little energy consumption, and low cost. They can be widely used in the special environments on the earth such as desert, volcano and polar region, and on the planets such as the Mars and the Moon for environmental explorations. The developed theories and methods can also be applied to the movement modeling, analysis and simulation of the other wind-driven mobile robots. The research results include 10 professional papers, 2/8/2 SCI/EI/ISTP indexes, 2 granted invention patents, 1 granted software copyright.

英文关键词： wind-driven; spherical robot; modeling and analysis; environmental exploration