独轮机器人——机械结构设计

北京理工大学珠海学院2020届本科生毕业设计Unicycle Robot-Mechanical Structure DesignAbstractThe unicycle robot can be considered as a dynamic system which is multivariable,highlycoupled and nonlinear,and it is designed as a statically unstable robot with self-balancingfunction.Both its mechanical structure design,dynamic modeling and control systems designhave been regarded as the essential points by experts and scholars from hone and aborad.Thequality of the structural design is directly linked to the difficulty of its control.In attempt tosimplfy its control system design,it is fundamental to exploit an intelligent and optimizedmechanical structure for the unicycle robot.This paper takes the vertical rotor unicycle robot as the research object,combined withthe structural design of the unicycle robot over the years,developed a new type of unicyclerobot body structure.Draw a two-dimensional part drawing on Auto CAD software,and drawthe individual parts of the unicycle robot on Pro /E software,and at the same time virtualassembly the entire unicycle robot.Perform finite element analysis on individual parts todetermine their strength meets the requirements.This will further test the scientificity andjustifiability of the structure of the single-wheel robot.And process and assemble themechanical entity of the unicycle robot.Keywords:unicycle robot,Vertical rotor,Finite Element Analysis