A development oriented to optimizing dynamical performance of fira soccer robot

A novel FIRA soccer robot was developed to achieve robotic soccer competence .Cause and effect graph of the effective items to the dynamical performance of the robot is presented. To achieve better dynamical performance, an irony ball instead of the ball bearing is selected as the bearing wheels, the driving hub is made of motor truck rubber and dented by an exotic process to obtain more traction, and the lithium-ion batteries is selected as the power. The flexibility of the robot has been largely improved; The battery is specially manufactured, its power consumption has been decreased about 20%, and its volume has been decreased about 30%; The smoothriding ability and motion precision can be maintained if the proper motion control algorithm is utilized. All these effects have been verified by the comparative test and the application.