Spherical Robot Mechanism and Walking Method Based on Gyro Precession Effect

Abstract

The invention discloses a spherical robot mechanism based on a gyroscope precession effect and a walking method thereof. The spherical robot mechanism comprises an outer spherical shell and a gyroscope driving unit arranged in the outer spherical shell, the gyroscope driving unit comprises a cubic support, a gyroscope rotor mechanism and an omni-directional wheel driving unit, the gyroscope rotormechanism and the omni-directional wheel driving unit are arranged in the cubic support, the gyroscope rotor mechanism comprises a spherical gyroscope support and a gyroscope rotor arranged in the spherical gyroscope support, the omni-directional wheel driving unit comprises six omni-directional wheel driving components which are arranged around the spherical gyroscope support and drive the spherical gyroscope support to rotate universally, the omni-directional wheel driving components mainly comprises single-row omni-directional wheels and absolute type encoders for detecting the single-row omni-directional wheel rotation angle, the two opposite single-row omni-directional wheels are a group, the three sets of single-row omni-directional wheels are respectively located on three mutually perpendicular planes orthogonal to the center of the spherical gyroscope support. According to the spherical robot mechanism and the walking method, omni-directional movement of the spherical robot isrealized through omni-directional gyroscope moment generated by the gyroscope driving unit.

Description

technical field [0001] The invention relates to a spherical robot mechanism, in particular to a spherical robot mechanism and a walking method based on the gyro precession effect. Background technique [0002] Mobile robots can be roughly divided into wheeled, crawler, legged, and snake forms according to the way they move. Among them, the wheeled robot has the characteristics of fast moving speed; the crawler robot has the characteristics of strong load capacity; the legged robot can adapt to complex terrain; the snake-shaped robot has the characteristics of flexible steering and strong ground adaptability. Its common shortcoming is that can't carry out the all-round movement of robot. In view of this, scholars at home and abroad have developed spherical robots. [0003] Spherical robot is a new type of mobile robot mechanism, which has the advantages of maneuverability of wheeled robot and legged robot to adapt to complex terrain, and has the characteristics of small siz...

AI Technical Summary

Problems solved by technology

Its common shortcoming is that it is impossible to move the robot in all directions

[0004] There are two main types of driving principles for existing spherical robots: the spherical robot driven based on the center of mass change of the internal mechanism of the spherical shell and the spherical robot driven based on the principle of conservation of angular momentum. Its main function is to realize the omnidirectional movement of the spherical robot. However, the existing spherical robot It is difficult for most spherical robots to realize the self-rotation movement, such as the patent No. 201611199608.7 "A Kind of Spherical Robot", which can realize omni-directional movement but cannot realize self-rotation movement

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