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Test platform for movable spherical robot

A mobile robot and test platform technology, applied in the direction of mechanical measuring devices, instruments, measuring devices, etc., to achieve high strength, light overall weight, good stiffness and strength performance

Inactive Publication Date: 2008-10-08
BEIJING UNIV OF POSTS & TELECOMM
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, there are few researches on testing and experimental platforms for spherical mobile robots in the world; there are almost no examples of establishing a stable and reliable testing platform for performance testing of spherical mobile robots and experimental research on nonlinear control strategies

Method used

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  • Test platform for movable spherical robot
  • Test platform for movable spherical robot

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Experimental program
Comparison scheme
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Embodiment Construction

[0023] Such as figure 1 Shown, the test platform for spherical mobile robot of the present invention is mainly made up of inner frame 5, outer frame 2, bottom frame 10, base 13 and the device that can rotate mutually between their adjacent parts and be positioned at the fixable clamping spherical shape in inner frame. Combination of unit devices of mobile robots.

[0024] In this embodiment, the inner frame 5 adopts a square or circular frame design, and it is better to adopt an adjustable unit device for fixing and clamping the spherical mobile robot provided on the inner frame. This device can adopt a pair of fixed and clamping spherical mobile robots. The upper and lower pressing plates and the transmission lead screw 17 of the adjustable upper and lower pressing plate spacing, and the transmission nuts 22,18 on the corresponding side ends of the upper and lower pressing plates adopt thread transmission. see figure 1 As shown, a preferred embodiment is: the upper and lowe...

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Abstract

The invention discloses a testing platform for spherical mobile robot, comprising a base, wherein a base bearing seat is fixed on a central position; a base frame on an upper side of the base that is a semi-square tri-edge frame. The central positions of the bottom horizontal frame are connected to the base bearing seat of the base adopting a bearing bushing by a base plate driving shaft driven by a first motor and; an outer frame, the central positions of two vertical frames are connected to a head end of two corresponding vertical frame by a rotary connection piece driven by a second motor; an inner frame, the central positions of two horizontal frames are connected to the central positions of two corresponding horizontal frames by the rotary connection piece of a third motor; the inner frame is provided with a unit device that fixedly clamps the spherical mobile robot. The spherical mobile robot can be clamped in the inner frame. The spherical state changes along three shaft corners. The rotation of the three shaft corners of the spherical mobile robot can simulate space motion and state change of the spherical mobile robot.

Description

technical field [0001] The invention relates to a test platform for a spherical mobile robot. Background technique [0002] At present, in military reconnaissance, intelligent attack, industrial production, field exploration, Mars and moon exploration and other activities, mobile robots are more and more widely used. A spherical mobile robot is a mobile robot with a spherical or approximately spherical shell. The contact mode between the spherical mobile robot and the ground is one-point contact, its movement and steering are flexible and convenient, it has the characteristics of omnidirectional movement and zero turning radius, and has a strong ability to adapt to the road. In recent years, many scholars at home and abroad have carried out research on spherical robots one after another, making it a new and rapidly developing special robot. [0003] The research on spherical mobile robots in the world has only lasted for more than ten years. However, the research on the m...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01B5/00G01B5/004
Inventor 孙汉旭贾庆轩于涛张延恒张密
Owner BEIJING UNIV OF POSTS & TELECOMM
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