CN107697179B - Dual-mode spherical robot mechanism and walking method - Google Patents
Dual-mode spherical robot mechanism and walking method Download PDFInfo
- Publication number
- CN107697179B CN107697179B CN201711003637.6A CN201711003637A CN107697179B CN 107697179 B CN107697179 B CN 107697179B CN 201711003637 A CN201711003637 A CN 201711003637A CN 107697179 B CN107697179 B CN 107697179B
- Authority
- CN
- China
- Prior art keywords
- spherical shell
- spherical
- mode
- robot
- semi
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 15
- 230000005540 biological transmission Effects 0.000 claims abstract description 5
- 244000309464 bull Species 0.000 claims abstract description 4
- 238000005096 rolling process Methods 0.000 claims abstract description 4
- 230000005484 gravity Effects 0.000 claims description 5
- 230000009977 dual effect Effects 0.000 claims 5
- 230000033001 locomotion Effects 0.000 abstract description 10
- 230000001105 regulatory effect Effects 0.000 abstract 1
- UDGUGZTYGWUUSG-UHFFFAOYSA-N 4-[4-[[2,5-dimethoxy-4-[(4-nitrophenyl)diazenyl]phenyl]diazenyl]-n-methylanilino]butanoic acid Chemical compound COC=1C=C(N=NC=2C=CC(=CC=2)N(C)CCCC(O)=O)C(OC)=CC=1N=NC1=CC=C([N+]([O-])=O)C=C1 UDGUGZTYGWUUSG-UHFFFAOYSA-N 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The invention discloses a dual-mode spherical robot mechanism and a walking method, wherein the dual-mode spherical robot mechanism comprises an outer spherical shell and an outer spherical shell walking driving element, the outer spherical shell walking driving element comprises three orthogonal single-row omni-directional wheels and a half inner spherical shell, which are arranged in an upper half spherical shell and a lower half spherical shell of the outer spherical shell, the half inner spherical shell is in rolling contact with the outer spherical shell through a bull's eye wheel, the three single-row omni-directional wheels are arranged on a supporting plate through corresponding wheel frames and are in friction contact with the inner spherical shell surface of the outer spherical shell, and each wheel frame is provided with a stepping motor for driving the corresponding single-row omni-directional wheel; a grating ruler is arranged on a vertical central axis in the semi-inner spherical shell, balancing weights are symmetrically arranged on the grating ruler, the balancing weights do lifting movement on the grating ruler through a gear rack transmission pair, and a reading head for sensing the grating ruler to detect coincidence or deviation of the mass center and the spherical center is arranged on the balancing weights. According to the invention, the mass center position is regulated through actual conditions, so that the high-speed rotor mode and the low-speed eccentric mass mode can be switched at will, and the spherical robot can reach the target position faster and more accurately.
Description
Technical Field
The invention relates to a spherical robot mechanism, in particular to a dual-mode spherical robot mechanism and a walking method.
Background
The spherical robot can turn more sensitively than other movement modes, the spherical device can rapidly adjust the running state to perform continuous work, and the spherical robot has strong recovery capability.
According to different driving principles, there are two driving methods of the current spherical robot, namely an eccentric mass driving method and a rotor driving method.
Among spherical robots driven by an eccentric mass method, a spherical robot BHQ-2 developed by Beijing aviation aerospace university is more representative, and the spherical robot BHQ-2 is used for enabling the robot to roll by overcoming friction resistance moment by continuously adjusting and changing the gravity center position of the robot to generate eccentric moment; similarly, the spherical robot BYQ-III developed by Beijing university of post and electric can generate eccentric moment by rotating the internal mechanism around the horizontal axis to roll the robot back and forth.
The spherical robot driven by the eccentric mass method can accurately reach the target position, but if the starting point position is far away from the target position, the driving mode is suitable for low-speed movement, so that the time is more, and the efficiency is reduced.
Among the spherical robots driven by the rotor method, a fully symmetrical spherical robot developed at Shanghai university is more representative, which is a spherical robot motion realized by respectively adjusting the forward rotation, the reverse rotation and the start and stop of two motors.
The rotor driving method is suitable for high-speed rotation, can ensure that the spherical robot rapidly reaches the vicinity of the target position, has high efficiency, is easy to be interfered, has poor stability of positioning points, and is not easy to accurately reach the target position.
The existing spherical robot can realize one of an eccentric mass driving mode and a rotor driving mode at present, and the two modes are not switched randomly, so that the target position is not easy to be reached quickly and accurately at the same time.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a dual-mode spherical robot mechanism and a walking method capable of realizing the mutual switching of a high-speed rotor mode and a low-speed eccentric mass block mode.
The technical scheme of the double-mode spherical robot mechanism capable of solving the technical problems comprises an outer spherical shell and an outer spherical shell traveling driving element arranged in the outer spherical shell, wherein the outer spherical shell traveling driving element comprises a semi-inner spherical shell concentrically arranged in a lower semi-spherical shell of the outer spherical shell and three orthogonal single-row omni-directional wheels uniformly distributed on the inner circumference of an upper semi-spherical shell of the outer spherical shell, the semi-inner spherical shell is in rolling contact with the outer spherical shell through uniformly distributed bull's eye wheels, the three single-row omni-directional wheels are arranged on a supporting plate at the top of the semi-inner spherical shell through corresponding wheel frames and are in frictional contact with the inner spherical shell surface of the outer spherical shell, and each wheel frame is provided with a stepping motor for driving the corresponding single-row omni-directional wheel and an encoder for detecting the rotation state of the corresponding single-row omni-directional wheel; the device is characterized in that a grating ruler is arranged on a vertical central axis in the semi-inner spherical shell, balancing weights with mass centers on the central axis of the semi-inner spherical shell are symmetrically arranged on the grating ruler, the two balancing weights do lifting movement on the grating ruler through a gear rack transmission pair, and a reading head for sensing the grating ruler to detect coincidence or deviation of the mass centers of the balancing weights and the spherical centers is arranged on the balancing weights.
Further, the rack and pinion transmission pair comprises a rack arranged on the left side surface or the right side surface of the grating ruler and a gear meshed with the rack, the two balancing weights are arranged on the front side and the rear side of the grating ruler corresponding to the gear, the two ends of a wheel shaft of the gear are arranged in the inner side surfaces of the front balancing weight and the rear balancing weight, the reading head is arranged on the inner side surface of the front balancing weight or the rear balancing weight, a servo motor for synchronously driving the wheel shaft of the two ends of the gear and a supporting short shaft with the same appearance and quality as the servo motor are arranged on the outer side surface of the front balancing weight and the rear balancing weight, the servo motor and the supporting short shaft are arranged on the front frame plate and the rear frame plate of the frame, and a guiding sliding pair is formed between the right frame plate or the left frame plate of the frame and the right side surface or the left side surface of the grating ruler.
Still further, the lower extreme of grating chi is installed in the bottom of half interior spherical shell, and the upper end of grating chi passes the through the opening of backup pad and is connected with the support frame of three single row omnidirectional wheel top, the three heel brace of support frame is installed respectively on corresponding wheel carrier.
Furthermore, the through hole is formed in the top of the hemispherical frame arched in the center of the supporting plate, and each wheel frame is arranged at the corresponding position of the hemispherical frame through the corresponding wheel seat.
In order to ensure the stability of the spherical robot in a stop state, the semi-inner spherical shell is provided with a reset switch which enables the balancing weight to move downwards to the lowest position when the spherical robot stops.
The walking method of the dual-mode spherical robot mechanism realizes the switching between a rotor mode and an eccentric mode of the spherical robot, namely the switching between a high-speed mode and a low-speed mode by driving three single-row omnidirectional wheels and moving the upper and lower positions of a balancing weight, and the walking mode is as follows:
1. when the balancing weight moves to the position where the mass center of the spherical robot coincides with the spherical center, the spherical robot can rapidly walk under the high-speed rotation drive of the three single-row omnidirectional wheels.
2. When the balancing weight moves downwards to a position where the mass center of the spherical robot is eccentric with the spherical center, the semi-inner spherical shell swings at a small angle under the action of gravity, and the low-speed movement of the spherical robot is realized under the slow rotation driving of the three single-row omni wheels.
3. When the spherical robot reaches the target position, the reset switch is started to enable the balancing weight to descend to the lowest position even if the mass center is reduced to the lowest, so that the spherical robot is more stable after stopping.
The invention has the beneficial effects that:
1. according to the invention, through upward adjustment of the balancing weight, when the mass center of the spherical robot is overlapped with the sphere centers of the outer spherical shell and the semi-inner spherical shell, the spherical robot is in a high-speed rotor mode, so that high-speed movement of the spherical robot is realized, and the spherical robot can quickly reach the vicinity of a target position.
2. According to the invention, through downward adjustment of the balancing weight, when the center of mass of the spherical robot deviates from the centers of the outer spherical shell and the semi-inner spherical shell, the spherical robot is in a low-speed eccentric mass block mode, and the semi-inner spherical shell can swing at a small angle under the action of gravity due to the offset of the center of mass, so that the low-speed movement of the spherical robot is realized, and the spherical robot can more accurately reach a target position.
Drawings
Fig. 1 is a schematic perspective view of an embodiment of the present invention.
Fig. 2 is an internal structural view of the embodiment of fig. 1.
Fig. 3 is a cross-sectional view of the embodiment of fig. 1.
Fig. 4 is a view in the direction a of fig. 3.
Drawing number identification: 1. an outer spherical shell; 2. a semi-inner spherical shell; 3. a single row of omni wheels; 4. a wheel carrier; 5. a support plate; 6. an encoder; 7. a grating ruler; 8. balancing weight; 9. a reading head; 10. a bullseye wheel; 11. a stepping motor; 12. a rack; 13. a gear; 14. a servo motor; 15. a frame; 16. a support frame; 17. a hemispherical shelf; 18. a reset switch; 19. supporting the stub shaft.
Detailed Description
The technical scheme of the invention is further described below with reference to the embodiment shown in the drawings.
The invention relates to a dual-mode spherical robot mechanism, which structurally comprises an outer spherical shell 1, a semi-inner spherical shell 2, an outer spherical shell walking driving element and a mass center adjusting assembly.
The semi-inner spherical shell 2 is concentrically arranged in the lower semi-spherical shell of the outer spherical shell 1, a plurality of bull's eye wheels are uniformly distributed on the outer spherical shell surface of the semi-inner spherical shell 2, so that the semi-inner spherical shell 2 is in rolling connection with the outer spherical shell 1, an upper opening of the semi-inner spherical shell 2 is covered with an annular supporting plate 5, an upper arch hemispherical frame 17 is arranged at a central annular hole of the supporting plate 5, and a through opening is formed in the top of the hemispherical frame 17, as shown in figures 1, 2 and 3.
The outer spherical shell walking driving element comprises three single-row omni-wheels 3 uniformly distributed on the inner circumference of the upper hemispherical shell (in the horizontal plane) of the outer spherical shell 1, the three single-row omni-wheels 3 are installed through corresponding wheel frames 4 and are in friction contact with the inner spherical shell surface of the outer spherical shell 1, each wheel frame 4 is installed on the corresponding position of the hemispherical frame 17 through a corresponding wheel seat, the three single-row omni-wheels 3 are orthogonal, namely the rotation center lines of the three single-row omni-wheels 3 are intersected at a point upwards, the point is positioned on a vertical spherical axis, and each wheel frame 4 is provided with a stepping motor 11 for driving the corresponding single-row omni-wheel 3 and an encoder 6 for detecting the rotation state of the corresponding single-row omni-wheel 3, as shown in fig. 1, 2 and 3.
The mass center adjusting assembly comprises a grating ruler 7, a balancing weight 8 and a reading head 9, wherein the grating ruler 7 is vertically arranged in an upper hemispherical shell and a semi-inner spherical shell 2 of the outer spherical shell 1 and is positioned on the axis of the vertical supporting plate 5 passing through the center of sphere, the bottom of the grating ruler 7 is fixedly arranged at the bottom of the semi-inner spherical shell 2, the middle part of the grating ruler 7 passes through a through hole of a hemispherical frame 17, the top of the grating ruler 7 is arranged at the bottom of a supporting frame 16 above three single-row omnidirectional wheels 3, three foot supports of the supporting frame 16 are respectively downwards arranged on corresponding wheel frames 4, and a gear 13 on the left side face of the grating ruler 7 is meshed with a rack 12 on the left side face of the grating ruler 7; the two balancing weights 8 are arranged on the front side and the rear side of the grating ruler 7 corresponding to the gears 13, the centers of mass of the two balancing weights 8 are positioned on vertical ball mandrel lines, two ends of a wheel shaft of each gear 13 are respectively arranged in the inner side surfaces of the front balancing weight 8 and the rear balancing weight 8 through bearings, the reading head 9 is arranged on the inner side surface of the front balancing weight 8 or the rear balancing weight 8 and is opposite to the front side surface or the rear side surface of the grating ruler 7, a servo motor 14 for driving a wheel shaft at one end of each gear 13 and a supporting short shaft 19 with the same appearance and mass as the servo motor 14 are arranged on the outer side surfaces of the front balancing weight 8 and the rear balancing weight 8, the servo motor 14 and the supporting short shafts 19 are arranged on front frame plates and the rear frame plates of the frame 15, a guiding sliding pair is formed between the right frame plates of the frame 15 and the right side surface of the grating ruler 7, and a reset switch 18 is arranged at the bottom of a semi-inner spherical shell 2 beside the bottom of the grating ruler 7, as shown in fig. 3 and 4.
In the structure, the specific position of the up-and-down lifting movement of the balancing weight 8 can be obtained through reading the grating ruler 7 by the reading head 9, and the mass center position of the spherical robot can be calculated through the specific position of the balancing weight 8 read by the reading head 9.
The invention relates to a walking method of a dual-mode spherical robot mechanism, which comprises two walking modes, namely:
1. when the balancing weight 8 moves to the position where the mass center of the spherical robot coincides with the sphere center, the spherical robot can rapidly walk under the high-speed rotation drive of the three single-row omnidirectional wheels 3.
2. When the balancing weight 8 moves downwards to a position where the mass center of the spherical robot is eccentric with the spherical center, the semi-inner spherical shell 2 can swing at a small angle under the action of gravity, and the low-speed movement of the spherical robot is realized under the slow rotation driving of the three single-row omni wheels 3.
3. When the spherical robot reaches the target position, the reset switch 18 is started to enable the balancing weight 8 to descend to the lowest position even if the mass center is minimized, so that the spherical robot is more stable after stopping.
Claims (6)
1. The utility model provides a spherical robot mechanism of dual mode, includes outer spherical shell (1) and locates outer spherical shell walking drive element in outer spherical shell (1), its characterized in that: the outer spherical shell walking driving element comprises a semi-inner spherical shell (2) concentrically arranged in a lower semi-spherical shell of an outer spherical shell (1) and three orthogonal single-row omni-wheels (3) uniformly distributed on the inner circumference of the upper semi-spherical shell of the outer spherical shell (1), wherein the semi-inner spherical shell (2) and the outer spherical shell (1) are in rolling contact through uniformly distributed bull's eye wheels (10), the three single-row omni-wheels (3) are arranged on a supporting plate (5) at the top of the semi-inner spherical shell (2) through corresponding wheel frames (4) and are in friction contact with the inner spherical shell surface of the outer spherical shell (1), and each wheel frame (4) is provided with a stepping motor (11) for driving the corresponding single-row omni-wheels (3) and an encoder (6) for detecting the rotation state of the corresponding single-row omni-wheels (3); the automatic measuring device is characterized in that a grating ruler (7) is arranged on a vertical central axis in the semi-inner spherical shell (2), balancing weights (8) with mass centers on the central axis of the semi-inner spherical shell (2) are symmetrically arranged on the grating ruler (7), the two balancing weights (8) are lifted and moved on the grating ruler (7) through a gear rack transmission pair, and a reading head (9) for sensing the grating ruler (7) to detect the coincidence or deviation of the mass centers of the balancing weights (8) and the spherical centers is arranged on the balancing weights (8).
2. The dual mode spherical robotic mechanism of claim 1, wherein: the gear rack transmission pair comprises a rack (12) arranged on the left side surface or the right side surface of the grating ruler (7) and a gear (13) meshed with the rack (12), wherein two balancing weights (8) are arranged on the front side and the rear side of the grating ruler (7) corresponding to the gear (13), two ends of a wheel shaft of the gear (13) are arranged in the inner side surfaces of the front balancing weight (8) and the rear balancing weight (8), the reading head (9) is arranged on the inner side surface of the front balancing weight (8) or the rear balancing weight (8), a servo motor (14) for driving a wheel shaft at one end of the gear (13) and a supporting short shaft (19) with the same appearance and quality as the servo motor (14) are arranged on the front frame plate and the rear frame plate of the frame (15), and a guiding sliding pair is formed between the right frame plate or the left frame plate of the frame (15) and the right side surface or the left side surface of the grating ruler (7).
3. The dual mode spherical robotic mechanism of claim 2, wherein: the lower extreme of grating chi (7) is installed in the bottom of half interior spherical shell (2), and the upper end of grating chi (7) passes the through-hole of backup pad (5) and is connected with support frame (16) above three single row omnidirectional wheel (3), three heel brace of support frame (16) are installed respectively on corresponding wheel carrier (4).
4. A dual mode spherical robotic mechanism according to claim 3, wherein: the through holes are formed in the tops of the hemispherical frames (17) arched in the center of the supporting plate (5), and the wheel frames (4) are arranged at corresponding positions of the hemispherical frames (17) through corresponding wheel seats.
5. The dual mode spherical robotic mechanism of any one of claims 1-4, wherein: the semi-inner spherical shell (2) is provided with a reset switch (18) which enables the balancing weight (8) to move downwards to the lowest position when the spherical robot stops.
6. The dual-mode spherical robot walking method adopting the dual-mode spherical robot mechanism as claimed in claim 5 realizes the switching between a rotor mode and an eccentric mode, namely the switching between a high-speed mode and a low-speed mode of the spherical robot by driving the upper and lower positions of three single-row omnidirectional wheels (3) and a movable balancing weight (8), and the walking mode is as follows:
(1) when the balancing weight (8) moves to a position where the mass center of the spherical robot coincides with the sphere center, the spherical robot can rapidly walk under the high-speed rotation drive of the three single-row omnidirectional wheels (3);
(2) when the balancing weight (8) moves downwards to a position where the mass center of the spherical robot is eccentric with the spherical center, the semi-inner spherical shell (2) swings at a small angle under the action of gravity, and the spherical robot is driven to move at a low speed under the slow rotation of the three single-row omnidirectional wheels (3);
(3) after the spherical robot reaches the target position, a reset switch (18) is started to enable the balancing weight (8) to descend to the lowest position even if the mass center is reduced to the lowest, so that the spherical robot is more stable after stopping.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711003637.6A CN107697179B (en) | 2017-10-24 | 2017-10-24 | Dual-mode spherical robot mechanism and walking method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711003637.6A CN107697179B (en) | 2017-10-24 | 2017-10-24 | Dual-mode spherical robot mechanism and walking method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107697179A CN107697179A (en) | 2018-02-16 |
| CN107697179B true CN107697179B (en) | 2023-10-27 |
Family
ID=61182714
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711003637.6A Active CN107697179B (en) | 2017-10-24 | 2017-10-24 | Dual-mode spherical robot mechanism and walking method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107697179B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108556577B (en) * | 2018-04-23 | 2020-07-14 | 西南科技大学 | Air-ground dual-purpose spherical robot |
| CN114833843B (en) * | 2022-04-26 | 2023-04-14 | 西安理工大学 | Spherical wheel leg explosive-handling robot |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07285475A (en) * | 1994-04-20 | 1995-10-31 | Sony Corp | Method for driving spherical shell rotated and running device using spherical shell |
| DE20317995U1 (en) * | 2003-11-20 | 2004-02-19 | Györy, Kálmán | Robot which can negotiate steps, for use against partisans or terrorists, is made in form of a remotely controlled pair of linked balls which may hold explosives or liquified gas |
| CN101229832A (en) * | 2008-02-28 | 2008-07-30 | 南京航空航天大学 | Omnidirectional moving spherical robot |
| CN101259856A (en) * | 2008-04-10 | 2008-09-10 | 上海交通大学 | Inverting roller type positioning mobile robot |
| CN101314222A (en) * | 2008-05-12 | 2008-12-03 | 北京邮电大学 | Spherical robot having visual sensation and arms on both sides |
| CN105035198A (en) * | 2015-08-11 | 2015-11-11 | 桂林电子科技大学 | Bionic bounce robot used for environment detection |
| CN105128967A (en) * | 2015-08-28 | 2015-12-09 | 北京交通大学 | Omni-directional motion spherical robot |
| CN105730538A (en) * | 2016-02-03 | 2016-07-06 | 桂林电子科技大学 | Friction type internal drive universal spherical robot mechanism |
| CN106500889A (en) * | 2016-11-04 | 2017-03-15 | 深圳中科传感科技有限公司 | Fiber grating force sensor and its pressure detection method |
| CN107243883A (en) * | 2017-06-23 | 2017-10-13 | 桂林电子科技大学 | Spherical Wire walking robot and its traveling method |
| CN207311645U (en) * | 2017-10-24 | 2018-05-04 | 桂林电子科技大学 | Double mode spherical robot mechanism |
-
2017
- 2017-10-24 CN CN201711003637.6A patent/CN107697179B/en active Active
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07285475A (en) * | 1994-04-20 | 1995-10-31 | Sony Corp | Method for driving spherical shell rotated and running device using spherical shell |
| DE20317995U1 (en) * | 2003-11-20 | 2004-02-19 | Györy, Kálmán | Robot which can negotiate steps, for use against partisans or terrorists, is made in form of a remotely controlled pair of linked balls which may hold explosives or liquified gas |
| CN101229832A (en) * | 2008-02-28 | 2008-07-30 | 南京航空航天大学 | Omnidirectional moving spherical robot |
| CN101259856A (en) * | 2008-04-10 | 2008-09-10 | 上海交通大学 | Inverting roller type positioning mobile robot |
| CN101314222A (en) * | 2008-05-12 | 2008-12-03 | 北京邮电大学 | Spherical robot having visual sensation and arms on both sides |
| CN105035198A (en) * | 2015-08-11 | 2015-11-11 | 桂林电子科技大学 | Bionic bounce robot used for environment detection |
| CN105128967A (en) * | 2015-08-28 | 2015-12-09 | 北京交通大学 | Omni-directional motion spherical robot |
| CN105730538A (en) * | 2016-02-03 | 2016-07-06 | 桂林电子科技大学 | Friction type internal drive universal spherical robot mechanism |
| CN106500889A (en) * | 2016-11-04 | 2017-03-15 | 深圳中科传感科技有限公司 | Fiber grating force sensor and its pressure detection method |
| CN107243883A (en) * | 2017-06-23 | 2017-10-13 | 桂林电子科技大学 | Spherical Wire walking robot and its traveling method |
| CN207311645U (en) * | 2017-10-24 | 2018-05-04 | 桂林电子科技大学 | Double mode spherical robot mechanism |
Non-Patent Citations (3)
| Title |
|---|
| BYQ-3球形机器人的动力学模型;孙汉旭;王亮清;贾庆轩;刘大亮;;机械工程学报(10);全文 * |
| 双偏心质量块驱动球形机器人的直线运动控制;赵勃;王鹏飞;孙立宁;李满天;;机械工程学报(11);全文 * |
| 基于Arduino控制的球形机器人;陈利标;郑暖暖;苏宗梓;;现代制造技术与装备(01);全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107697179A (en) | 2018-02-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105619049B (en) | Air-flotation type flexible assembly docking system | |
| CN107697179B (en) | Dual-mode spherical robot mechanism and walking method | |
| CN103196685B (en) | Two-wheel differential wheel type mobile robot experimental platform with adjustable gravity center | |
| CN109742683A (en) | Along power transmission line crusing robot obstacle-surmounting travelling gear | |
| CN105128976B (en) | A kind of drive lacking running gear and its Servo Control method | |
| CN104355264B (en) | All-around mobile liftable shipping platform | |
| CN110723267B (en) | Gravity center adjusting system applied to underwater robot | |
| CN209774711U (en) | Anti-overturning counterweight device of mobile 3D printing robot | |
| CN108655476A (en) | A kind of device of finishing wheel blanks positioning end face | |
| CN105126350A (en) | Integrated soccer robot structure | |
| CN104646553A (en) | Manipulator structure for work-piece clamping carrying | |
| CN105148528B (en) | A kind of modularization Soccer robot | |
| CN203026487U (en) | Chip mounter work bench capable of achieving rotary posture correction of chip | |
| CN207723267U (en) | A kind of asynchronous clamping arc making equipment of automobile pipe | |
| CN113281025A (en) | Sliding plate bridge production equipment with stability testing function | |
| CN209434760U (en) | Along power transmission line crusing robot obstacle-surmounting travelling gear | |
| CN207311645U (en) | Double mode spherical robot mechanism | |
| CN211167090U (en) | Intelligent logistics robot steering device | |
| CN208483290U (en) | A kind of device of finishing wheel blanks positioning end face | |
| CN103252690A (en) | Vertical type centerless grinding machine | |
| CN206667864U (en) | Vehicle access apparatus | |
| CN218900765U (en) | Multistage intelligent tennis service robot that accelerates | |
| CN206026963U (en) | Universal treadmill | |
| CN113294660B (en) | Portable structured light three-dimensional measuring equipment | |
| CN203006344U (en) | Lifting positioning and locking device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |