Electromagnetic Force Balanced Single-Wheel Robot
Electromagnetic Force Balanced Single-Wheel Robot
复制标题
电磁力平衡单轮机器人
DOI：
10.1049/cje.2016.05.008
复制
发表时间：
2016
影响因子：
1.2
通讯作者：
Xiao Yao
中科院分区：
文献类型：
--
作者：
Zhu Xiaoqing;Ruan Xiaogang;Chen Zhigang;Wei Ruoyan;Xiao Yao
开展单轮机器人（SWR）横向稳定性研究是一项具有挑战性的任务。推导了早期飞轮稳定SWR的横向动力学来解释这种机构的缺点，并证明了恢复扭矩与飞轮的加速度和转动惯量成正比。但由于电机是速度服务器系统，很难控制其加速度来驱动飞轮为SWR提供恢复扭矩；而且飞轮的转动惯量必须足够大才能产生足够的恢复扭矩，这使得这种系统相当笨重。我们提出了一种通过引入电磁力来解决该问题的新机制。简要描述了所提出的机制，并给出了这种新型驻波比的动态分析，然后还进行了稳定性分析。进行了三维（3D）多体仿真、数值仿真和物理发明摆原型实验来验证所提出的机制。实验结果验证了该机构的可行性，并且比飞轮平衡驻波比具有一定的优势。
It is a challenging task to carry on the research concerning the lateral stabilization of Single wheel robot (SWR). The lateral dynamics of earlier flywheel stabilizing SWR is derived to explain the shortcomings of such a mechanism, and the recovery torque proportional to the acceleration and moment of inertia of the flywheel is proved. But as the motor being a speed server system, it is difficult to control its acceleration to actuate the flywheel to provide recovery torque for SWR; and the moment of inertia of the flywheel must be large enough to produce adequate recovery torque, which makes such a system rather cumbersome. We proposed a new mechanism to solve the problem by introducing an electromagnetic force. The proposed mechanism is described briefly, and the dynamic analyses of such a new SWR is given, then the stability analysis is also done. Three-dimensional (3D) multi-body simulation, numerical simulation and physical invented pendulum prototype experiments were conducted to verify the proposed mechanism. The experiment results verified that the proposed mechanism is feasible and have some advantages over the flywheel balanced SWR.