期刊
JOURNAL OF AEROSPACE ENGINEERING
卷 24, 期 1, 页码 135-139出版社
ASCE-AMER SOC CIVIL ENGINEERS
DOI: 10.1061/(ASCE)AS.1943-5525.0000063
关键词
Robotics; Structural design; Dynamic analysis; Wind forces; Numerical analysis; Space exploration
资金
- National Natural Science Foundation of China through NSFC [50875193]
A novel configuration of the wind-driven spherical robot with multiple shapes is proposed, which can realize the multiple movement modes of rolling, bouncing, and flying by adjusting its external shape. The constraints, switching conditions, and mechanical relations are analyzed. The bouncing dynamic model of the wind-driven spherical robot is established using the Kane's method. The rolling, sliding, and floating dynamic models of the robot based on the Newton mechanics method are derived. Finally, we combine the dynamic models and analyze all the kinds of movements of the robots considering the effect of the stochastic wind in environment. The software platform of the movement analysis is developed, and the movement simulation of the robot is realized. The numerical simulation results reveal the effects of the environment and robot parameters on the movement performances of the robot.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据