| 阴贺生， 张秋菊， 宁萌.基于驱动轮同步转向机构的全向移动机器人[J].轻工机械,2018,36(1):24-28 |
| 基于驱动轮同步转向机构的全向移动机器人 |
| Design of Synchronous Steering Structure of Powered Wheel for Omnidirectional Mobile Robot |
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| DOI：10.3969/j.issn.1005 2895.2018.01.006 |
| 中文关键词: 全向移动机器人 转向机构 运动学分析 驱动轮 |
| 英文关键词:omnidirectional mobile robot steering mechanism kinematics analysis drive wheel |
| 基金项目:国家自然科学基金面上项目(51575236)；2016年度江苏省普通高校专业学位研究生实践创新计划项目（SJLX16_0486） |
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| 中文摘要: |
| 针对现有轮式全向移动机器人在工程实际应用中存在的同步转向能力差的问题，基于全向移动的轮式机构，设计了一种全向轮同步转向机构，以实现一个步进电机控制4个驱动轮同步转向。分析该转向机构的工作机理，并将该转向机构应用于全向移动机器人，在此基础上研制出一款主要应用于食品厂材料搬运工作的产品样机。通过对机器人进行运动学分析，得到了输入转速与机器人运动速度之间的关系，验证了该机器人的全向移动功能，降低了轮式全向移动机器人控制难度。研究实现了机器人高速度、高精度、高稳定性全向移动。 |
| 英文摘要: |
| Aiming at the problem of poor synchronization ability of existing rounded omnidirectional mobile robot in engineering application, based on wheeled omnidirectional moving mechanism, an omnidirectional synchronous steering mechanism was designed and it can achieve a stepper motor control four drive wheel synchronous steering. The working mechanism of the steering mechanism was analyzed and the steering mechanism was applied to an omnidirectional mobile robot. On this basis, a product prototype was developed mainly used in food manufacturer material handling. The kinematics of the robot had been analyzed, from which the interrelationship of the input motor speed and the robot′s ability of the omnidirectional mobility could be obtained.The result of kinematics analyzing the robot’s ability of the omnidirectional mobility can be testified and the foundation of the robot’s motion control can be provided. |
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