| 于欢， 刘泓滨， 尹雨枫.技巧球足球发射机器人设计[J].轻工机械,2018,36(6):12-14 |
| 技巧球足球发射机器人设计 |
| Design of Technique Ball Launching Robot |
| |
| DOI：10.3969/j.issn.1005 2895.2018.06.003 |
| 中文关键词: 足球发射机器人 全方位移动平台 推杆驱动 旋转发生器 多环控制策略 技巧球 |
| 英文关键词:soccer launches robot omnidirectional mobile platform push rod driving revolving generator multi loop control strategy skill ball |
| 基金项目:云南省品牌专业建设（机械工程）项目资助。 |
|
| 摘要点击次数: 1366 |
| 全文下载次数: 2717 |
| 中文摘要: |
| 针对体育行业中足球机器人普遍无法发射带有弧线的技巧球的现状，设计了一款技巧球发射机器人。该机器人采用推杆驱动的举仰机构，通过运动学分析验证了设计方案的可行性；设计了特殊的旋转发生器机构，可产生多种技巧球；对旋转发生器射出的足球进行了动力学及运动学分析，采用多环控制策略，设计了机器人控制系统。实验结果表明：该机器人运动灵活，可以发射带有弧线的技巧球，能够满足对球员的训练需求，具有良好的应用前景。 |
| 英文摘要: |
| In view of the situation that soccer robots are generally unable to launch a skill ball with arc lines in the sports industry, a technique ball launching robot was designed. The robot used a push rod driven lifting mechanism to verify the feasibility of the design scheme through kinematic analysis, and designed a special mechanism, a rotating generator, which could produce a variety of skill balls. The dynamics and kinematics analysis of the football generated by the revolving generator was carried out, and the structure of the robot control system was designed by using the multi loop control strategy. The result shows that this robot is flexible in motion and can emit arc ball. It can meet the training needs of players and has good application prospects. |
| 查看全文 查看/发表评论 下载PDF阅读器 |
| 关闭 |
