球形移动机器人变形机构结构设计研究综述*

doi:10.16731/j.cnki.1671-3133.2025.07.017

摘要/Abstract

摘要： 球形移动机器人因其强稳定性、高灵活性和低能耗等优势在救援搜索、地形勘探等非结构化场景中具有重要应用。目前国内外学者针对球形移动机器人变形结构的研究较少,从基于关键结构变形、基于拓扑理论结构变形、两栖球形移动机器人结构变形和可跳跃球形移动机器人结构变形4个方面对其变形形式和适用范围进行分类总结,这对球形移动机器人机动性和地形适应性的提高具有一定的借鉴意义。

关键词: 球形移动机器人, 结构变形, 驱动方式, 拓扑变形

Abstract: Spherical mobile robots,owing to their advantages such as strong stability,high flexibility,and low energy consumption,have significant applications in unstructured scenarios like rescue search and terrain exploration. Currently,domestic and foreign scholars have conducted relatively few studies on the deformation structures of spherical mobile robots. Their deformation forms and applicable scopes are categorized and summarized from 4 aspects in the study:deformation based on key structures,deformation based on topological theory structures,deformation of amphibious spherical mobile robots,and deformation of jumping spherical mobile robots. The enhancement of maneuverability and terrain adaptability in spherical mobile robots is acknowledged to hold referential significance.

Key words: spherical mobile robots, structural deformation, driving method, topological deformation

中图分类号:

TP242

田颖, 徐荣英. 球形移动机器人变形机构结构设计研究综述^*[J]. 现代制造工程, 2025, 538(7): 139-148.

TIAN Ying, XU Rongying. A review of the structural design of the deformation mechanism of spherical mobile robots[J]. Modern Manufacturing Engineering, 2025, 538(7): 139-148.

参考文献

[1] 宋荆洲,宫兴龙,段嘉辰,等.可跳跃移动机器人机构设计与跳跃过程控制研究综述[J]. 机械工程学报,2024,60(15):1-17.
[2] 周佳俊,吴炳晖,纪冬梅,等.油浸式变压器球形检测机器人驱动机构设计与运动仿真[J]. 机械传动,2024,48(8):82-88.
[3] 孙章军,颜景龙,李玉珏,等.变结构球形机器人系统设计[J]. 电子测试,2014,22:7-9.
[4] 曹钰.高越障性多形态球形机器人的设计与仿真分析[D]. 北京:北京建筑大学,2023.
[5] 王志豪,段富海.一种变直径球形机器人结构设计与控制[J]. 机器人,2024,46(5): 591-599.
[6] BUNATHUEK N,LAKSANACHAROEN P.A new locomotion concept using shell transformation for a reconfigurable spherical robot[J]. Wittayasara:Integration Apply Engineering and Industrial Technology,2020,13(2):74-85.
[7] CHADIL N,PHADOONGSIDHI M,LAKSANACHAROEN P,et al.A reconfigurable spherical robot[C]//2011 IEEE International Conference on Robotics and Automation.[S.l.] :IEEE,2011:2380-2385.
[8] BUNATHUEK N,SAISUTJARIT P,LAKSANACHAROEN P.Design of a reconfigurable spherical robot II[C]//The 4th Annual IEEE International Conference on Cyber Technology In Automation,Control,and Intelligent.[S.l.] :IEEE,2014:62-66.
[9] KAMON S,BUNATHUEK N,LAKSANACHAROEN P.Development of a reconfigurable spherical robot III[C]//2019 Research,Invention,and Innovation Congress.[S.l.] :IEEE,2019:1-5.
[10] BUN-ATHUEK N,LAKSANACHAROEN P.Simulation of a reconfigurable spherical robot IV for confined environment[C]//2020 IEEE Region 10 Conference.[S.l.] :IEEE,2020:1058-1062.
[11] QU Y,LIU R,CHEN R,et al.Development of a reconfigurable miniature throwable robot for indoor surveillance[C]//2012 7th IEEE Conference on Industrial Electronics and Applications.[S.l.] :IEEE,2012:502-506.
[12] 叶长龙,梁海超,于苏洋,等.变结构可抛掷球形机器人的运动分析[J]. 机器人,2016,38(2):154-159.
[13] 符景名.具有多运动模式的球腿复合机器人的研究[D]. 哈尔滨:哈尔滨工业大学,2017.
[14] 李东霖,吴兵,张平霞,等.适应复杂环境的六足球形机器人的设计与分析[J]. 江苏工程职业技术学院学报,2022,22(4):24-28.
[15] 李懋才.球形轮足复合式机器人设计与步态控制[D]. 兰州:兰州理工大学,2022.
[16] 李甜.折纸启发的磁驱超材料机器人[D]. 北京:北方工业大学,2020.
[17] 陈晓光,罗尧治.张拉整体单元找形问题研究[J]. 空间结构,2003,9(1):35-39.
[18] EHARA S,KANNO Y.Topology design of tensegrity structures via mixed integer programming[J]. International Journal of Solids and Structures,2010,47(5):571-579.
[19] KANNO Y.Topology optimization of tensegrity structures under compliance constraint:a mixed integer linear programming approach[J]. Optimization and Engineering,2013,14(1):61-96.
[20] 解一鸣.球形张拉整体机器人滚动分析与控制研究[D]. 哈尔滨:哈尔滨工业大学,2018.
[21] ZHANG A,HUTCHINGS D,GUPTA M,et al.Orientation control of self-righting tensegrity landers[C]//Proceedings of the ASME 2021 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference.[S.l.] :ASME, 2021,8B:17-19.
[22] BEYER E,COSTELLO M.Measured and simulated motion of a hopping rotochute[J]. Journal of Guidance,Control,and Dynamics,2009,32(5):1560-1569.
[23] KALANTARI A,SPENKO M.Design and experimental validation of HyTAQ,a hybrid terrestrial and aerial quadrotor[C]//2013 IEEE International Conference on Robotics and Automation.[S.l.] :IEEE,2013:4445-4450.
[24] 张梦杰.具有多种行进模式的可变形机器人的设计与控制方法研究[D]. 哈尔滨:哈尔滨工业大学,2019.
[25] SABET S,AGHA-MOHAMMADI A A,TAGLIABUE A,et al.Rollocopter:an energy-aware hybrid aerial-ground mobility for extreme terrains[C]//2019 IEEE Aerospace Conference.[S.l.] :IEEE,2019:1-8.
[26] SABET S,POURSINA A M,NIKRAVESH P E,et al.Dynamic modeling,energy analysis,and path planning of spherical robots on uneven terrains[J]. IEEE Robotics and Automation Letters,2020,5(4):6049-6056.
[27] KAZNOV V,SEEMAN M.Outdoor navigation with a spherical amphibious robot[C]//2010 IEEE/RSJ International Conference on Intelligent Robots and Systems.[S.l.] :IEEE,2010:5113-5118.
[28] GENG L B,HU Z Q,LIN Y,et al.A new concept spherical underwater robot with high mobility[C]//2015 IEEE International Conference on Cyber Technology in Automation,Control,and Intelligent Systems.[S.l.] :IEEE,2015,5:887-890.
[29] 刘政鑫.逻腾王酉:球形机器人布局千亿市场[J]. 机器人产业,2023(4):67-71.
[30] JIA L C,HU Z Q,WANG C,et al.The concept design of a mobile amphibious spherical robot for underwater operation[C]//2016 IEEE International Conference on Cyber Technology in Automation,Control,and Intelligent Systems.[S.l.] :IEEE,2016:411-415.
[31] GUO S X,LI M X,YUE C F.Performance evaluation on land of an amphibious spherical mother robot in different terrains[C]//2013 IEEE International Conference on Mechatronics and Automation.[S.l.] :IEEE,2013:1173-1178.
[32] LI M X,GUO S X,HIRATA H,et al.Design and performance evaluation of an amphibious spherical robot[J]. Robotics and Autonomous Systems,2015,64:21-34.
[33] LI M X,GUO S X,HIRATA H,et al.A roller-skating/walking mode-based amphibious robot[J]. Robotics and Computer-Integrated Manufacturing,2017,44:17-29.
[34] 陈亮.一种新型的水陆两栖球形机器人的研究[D]. 北京:北京邮电大学,2012.
[35] 李艳生,孙汉旭,贾庆轩,等.一种摆式球形水下机器人水底滚动特性分析[J]. 中南大学学报(自然科学版),2016,47 (11):3664-3669.
[36] 迟兴,战强.水陆两栖球形机器人辅助鳍的水动力特性[J]. 中南大学学报(自然科学版),2021,52(5):1456-1464.
[37] ARIF M A,ZHU A,MAO H,et al.Design of an amphibious spherical robot driven by twin eccentric pendulums with flywheel-based inertial stabilization[J]. IEEE/ASME Transactions on Mechatronics,2023,28(5):2690-2702.
[38] WAIT K W,JACKSON P J,SMOOT L S.Self locomotion of a spherical rolling robot using a novel deformable pneumatic method[C]//2010 IEEE International Conference on Robotics and Automation.[S.l.] :IEEE,2010,5:3757-3762.
[39] CHANG W J,CHANG C L,HO J H,et al.Design and implementation of a novel spherical robot with rolling and leaping capability[J]. Mechanism and Machine Theory,2022,171:104747.
[40] WANG F T,LI C B,NlU S H,et al.Design and analsis of a spherical robot with rolling and jumping modes for deep space exploration[J]. Machines,2022,10(2):126.
[41] LI B,DENG Q,LIU Z A.A spherical hopping robot for exploration in complex environments[C]//International Conference on Robotics and Biomimetics.[S.l.] :IEEE,2009:402-407.
[42] MAHBOUBI S,FAKHRABADI M,GHANBARI A.Design and implementation of a novel hybrid quadruped spherical mobile robot[J]. Robotics and Autonomous Systems,2013,61(2):184-194.
[43] CHAE S,BAEK S,LEE J,et al.Agile and energy efficient jumping crawling robot through rapid transition of locomotion and enhanced jumping height adjustment[J]. IEEE/ASME Transactions on Mechatronics,2022,27(6):5890-5901.
[44] SUGIYAMA Y,SHIOTSU A,YAMANAKA M,et al.Circular/spherical robots for crawling and jumping[C]//Proceedings of the 2005 IEEE International Conference on Robotics and Automation.Bacelona:IEEE,2005:3595-3600.
[45] RAURA L,WARREN A,THANGAVELAUTHAM J.Spherical planetary robot for rugged terrain traversal[C]//2017 IEEE Aerospace Conference.Big Sky:IEEE,2017:1-10.
[46] KALITA H,STANCU G,THANGAVELAUTHAM J,et al.Design and analysis of a mechanical hopping mechanism suited for exploring low-gravity environments[C]//2020 IEEE Aerospace Conference.Big Sky:IEEE,2020:1-10.
[47] 王建,缪龙,张文祥,等.跳跃机器人能量转换的主动控制与试验测试[J]. 中国机械工程,2022,33(24):2961-2970.
[48] 董洋洋,韩少杰,左堃罡,等.可变起跳角度的球形跳跃机器人跳跃分析及其优化[J]. 机械与电子,2021(2): 74-80.
[49] DONG Y,ZHANG T,HAN S,et al.Spherical robot with spring energy storage type hopping mechanisms:design,dynamics and experimental evaluation[J]. Industrial Robot:the International Journal of Robotics Research and Application,2022,49(4):760-769.

球形移动机器人变形机构结构设计研究综述^*

A review of the structural design of the deformation mechanism of spherical mobile robots

PDF

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 15

编辑推荐

Metrics

[1]	毛坤, 朱学军, 杨旭东, 余坼操. 面向复杂工件的机器人视觉打磨系统:路径规划与力控制研究^*[J]. 现代制造工程, 2025, 538(7): 31-41.
[2]	黄开启, 邹秀梅, 刘正超. 基于SHUK-SVSF算法的轴孔装配孔位姿估计^*[J]. 现代制造工程, 2025, 538(7): 105-112.
[3]	王国平, 刘吉轩, 贾谦, 门静, 张欣昱, 张琛. 机器人柔性关节变刚度技术研究进展^*[J]. 现代制造工程, 2025, 538(7): 149-159.
[4]	景会成, 张冰珂, 张靖轩, 郭明亮, 孙晋超. 基于改进粒子群算法的焊接机械臂轨迹规划方法^*[J]. 现代制造工程, 2025, 537(6): 67-72.
[5]	马黎, 张迪. 基于QP-ZNN的冗余度机械臂容错控制^*[J]. 现代制造工程, 2025, 537(6): 73-83.
[6]	简艳英, 鲍治国. 四足机器人后退步态稳定性分析与规划^*[J]. 现代制造工程, 2025, 536(5): 53-63.
[7]	赵倩, 石宇强. 融合改进A^*算法与DWA的AGV实时路径规划及避障研究[J]. 现代制造工程, 2025, 536(5): 91-98.
[8]	刘震, 张洪. 融合改进双向A^*与动态窗口法的仓储移动机器人路径规划[J]. 现代制造工程, 2025, 536(5): 99-105.
[9]	蒲秋爽, 刘桂萍. 动态环境下磨抛机器人PD-模糊自适应力跟踪阻抗控制[J]. 现代制造工程, 2025, 535(4): 61-68.
[10]	王磊, 张磊, 章悦, 李红兵, 孙铭, 陆观. 四指灵巧手的设计与研究^*[J]. 现代制造工程, 2025, 535(4): 69-76.
[11]	梁彤, 白雨航, 张保旭, 李亚男, 赵彦峻. 基于TRIZ两相出行康复外骨骼的结构设计与研究^*[J]. 现代制造工程, 2025, 535(4): 84-90.
[12]	付丹丹, 李波. 基于改进RRT^与DWA融合的移动机器人路径规划算法研究^[J]. 现代制造工程, 2025, 535(4): 91-97.
[13]	金奕扬, 李磊, 许家伟, 汪建华, 王国伟, 许润康. 基于RBF神经网络的4-PPPS并联机构位姿误差补偿^*[J]. 现代制造工程, 2025, 535(4): 140-150.
[14]	赵正君, 胡立坤, 蔡成杰, 韦文扬. 基于改进白鹭群优化算法的移动机器人路径规划^*[J]. 现代制造工程, 2025, 533(2): 37-43.
[15]	谢子健, 秦建军, 曹钰. 基于改进TD3的四足机器人非结构化地形运动控制^*[J]. 现代制造工程, 2025, 532(1): 33-41.