变结构独轮车机器人转弯平衡的力学机理研究

项目名称： 变结构独轮车机器人转弯平衡的力学机理研究

项目编号： No.51305087

项目类型： 青年科学基金项目

立项/批准年度： 2014

项目学科： 机械、仪表工业

项目作者： 庄未

作者单位： 桂林电子科技大学

项目金额： 25万元

中文摘要： 独轮车机器人是一种体型狭小、结构简单、节能环保的全方位移动机器人，可作为新型的代步工具在交通运输和军事侦察上有着潜在的应用前景。独轮车机器人实现上首要解决的是动态平衡问题。本申请设计一种具有6个驱动关节的变结构自主移动独轮车机构，研究这种独轮车机器人在非完整约束下的欠驱动力学建模，以及该机器人转弯平衡的动力学特性和调整机理问题。通过对其与地面间的非完整约束分析，建立系统的欠驱动力学模型，分析系统转弯和各向倾倒的内在耦合关系，揭示可能影响转弯平衡的因素，根据变结构独轮车机器人的设计，给出影响转弯平衡的结构参数范围，最终搭建物理样机，通过简单的控制算法进行实验验证并分析结果。项目实施可为独轮车机器人的工程应用打下基础，此外，独轮车机器人作为验证新控制理论算法的又一理想平台，其研究对探索欠驱动非完整约束系统的动态平衡控制问题具有重要的理论意义。

中文关键词： 独轮车机器人；查普雷金方程；机械化建模；平衡控制；

英文摘要： Unicycle robot is a novel wheel-typed robot system with the ability of omnidirectional movement. This type of robot has the advantages of compact structure, excellent maneuverability and energy saving, which can be potentially used in the fields of express delivery, military reconnaissance etc. The primary issue needed to be considered for a unicycle robot is dynamic balance keeping. Our project presents a unicycle mechanism with six actuated degree of freedom (DOF) and proposes a dynamical model for the system. The focuses of our work are on the robot's dynamical characteristics and its balanced turning mechanism. Firstly, By consi- dering the nonholonomic constraint between the robot's wheel and contacting ground, we develop an under-actuated dynamic model for the unicycle robot system. Then, based on the developed model, we analysis the coupling relationship between system's leanings and the turning. Next, we reveal the possible factors which would influent the balanced turning and derive the constrain ranges of these factors in which the system can keep stable. Finally, we construct a physical prototype to validate our analytical result. The successful implementation of our project can lay a good foundation for engineering applications of the unicycle robot. In addition, our unicycle robot can also be taken

英文关键词： unicycle robot；Chaplygin equation；mechanization modeling；balance control；