利用溜冰原理 ,设计了从动轮式溜冰机器人 .在简要介绍其转弯原理的同时 ,分析了其转弯条件 ,得出转弯半径表达式 ,提出了超前式和滞后式转弯的概念 .在建立运动坐标系的基础上 ,利用动力学状态机的思想和非完整系统动力学分析方程—— Maggi方程 ,具体分析了其转弯时的动力学性能 ,给出实际算例并进行了计算机仿真 Using the principle of skating, a driven roller skating robot is designed.While briefly introducing the principle of turning, this paper analyzes the turning conditions, gives the expression of turning radius, and puts forward the concept of advanced type and lag type turning.With the establishment of kinematic coordinates Based on the idea of ​​dynamic state machine and the incomplete system dynamics analysis equation - Maggi equation, the dynamic performance of the system is analyzed in detail. The actual examples are given and the computer simulation