Rolling Robot Control With Rotating Mass and Dual Pendulums
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Solution Overview
Problem
Existing rolling robots face challenges in stable high-speed motion and flexible steering due to complex, nonlinear, and coupled kinematics and dynamics models, which are exacerbated by ground disturbances and energy inefficiencies, limiting their control and speed capabilities.
Innovation Solution
A rolling robot design incorporating a rotating mass driven by a rotating mass driving motor, utilizing angular momentum conservation to apply torque and decouple the dynamic and kinematic models, combined with a pendulum and multiple motors to control the robot's attitude and motion, enabling high-speed straight-line motion and stable turning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a single pendulum is used to control forward-backward and left-right motions, then the actuator structure is simple, but the kinematics and dynamics model becomes strongly coupled and control difficulty increases
Solution Approach 1:
The single pendulum control system is segmented into two independent pendulums: a left-right pendulum for lateral motion control and a front-back pendulum for longitudinal motion control. This segmentation decouples the previously coupled kinematics and dynamics models, allowing independent control of left-right and forward-backward motions, thereby reducing control difficulty while maintaining structural simplicity
Solution Approach 2:
The control system transitions from one-dimensional (single pendulum) to two-dimensional (dual pendulums in orthogonal planes) configuration. The left-right pendulum operates in the lateral plane while the front-back pendulum operates in the longitudinal plane, creating independent control dimensions that eliminate the strong coupling present in single-pendulum systems
2Productivity
If the rolling robot moves at high speed, then productivity increases, but the rolling angle is easily disturbed by ground disturbances and periodic changes occur
Solution Approach 1:
A feedback control system using a six-axis gyro attitude sensor module is implemented to continuously monitor the rolling angle and provide real-time correction. The sensor detects attitude changes and feeds this information back to the control system, which adjusts the pendulum positions to counteract disturbances and maintain stable rolling angle even at high speeds
Solution Approach 2:
The dual pendulum system acts as a counterbalancing mechanism that actively compensates for ground disturbances and centrifugal forces. By adjusting the positions of the left-right and front-back pendulums, the system generates counter-torques that offset the effects of high-speed motion and external disturbances, maintaining rolling angle stability
3Adaptability or versatility
If the rolling robot turns by actively changing the rolling angle, then steering capability is achieved, but the structure becomes unsteady and easily shaken by ground disturbance or centrifugal force
Solution Approach 1:
The steering function is segmented from the rolling angle control to the pendulum position control. The front-back pendulum specifically controls turning by adjusting the mass distribution in the longitudinal direction, while the rolling angle is independently stabilized by the feedback control system. This segmentation allows steering capability while maintaining structural stability during turning maneuvers
4Device complexity
If the housing forms point contact with the ground, then the structure is simple, but it cannot resist ground disturbance and centrifugal force effectively
Solution Approach 1:
The dual pendulum system functions as a dynamic counterweight mechanism that actively compensates for ground disturbances and centrifugal forces. By continuously adjusting the pendulum positions based on feedback from the attitude sensor, the system generates counter-torques that offset external disturbances, effectively enhancing the robot's resistance to ground disturbance and centrifugal force without modifying the simple point-contact housing structure
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The design allows for increased speed up to 30 kilometers per hour with minimal jitter, improved control accuracy, and reduced complexity by decoupling the models, enhancing the robot's stability and maneuverability.
Implementation Method 1
A rolling robot design incorporating a rotating mass driven by a rotating mass driving motor, utilizing angular momentum conservation to apply torque
Implementation Method 2
a pendulum and multiple motors to control the robot's attitude and motion
Data Source
Figure 1~2
Figure 3~5
AI summary
Disclosed in the present invention is a rolling robot, comprising: a housing, which is formed in the shape of a revolving body; two supporting hubs, which are fixed to two sides of the housing; a main supporting structural member, which extends horizontally in a left-right direction in the housing and is connected to the two supporting hubs by means of bearings at two ends of the main supporting structural member; a gravity pendulum, which is connected to the main supporting structural member and is swingable in the left-right direction; a rotating mass, which is rotatably connected to the main supporting structural member about a rotating axis extending horizontally in a front-back direction when the rolling robot is stationary; a main driving electric motor, which is configured to drive the main supporting structural member, the gravity pendulum and the rotating mass to rotate in the front-back direction; a gravity pendulum driving electric motor, which is configured to drive the gravity pendulum to swing in the left-right direction; and a rotating mass driving electric motor, which is configured to drive the rotating mass to rotate in the left-right direction. In the present invention, the control difficulty of the rolling robot is reduced, high-speed movement can be realized, and jitter of the rolling angle hardly occurs.