摘要
研制了一种基于Mecanum轮的全向移动机器人。在研究其机构原理基础上,设计轮体参数并提出设计制造方法。还从应用角度解决了轮上辊子难以固定安装的问题,并提出微小地面不平整情况下的解决方案。该机器人无需本体做出任何转动便可实现任意方向的移动,且可以原地旋转任意角度,运动非常灵活,其不受限于运动空间的灵活移动及转位使之应用较为广泛。
An omni-directional mobile robot based mecanum wheel is developed. Designing of wheel＇s parameters and manufacture method is presented based on the research of the mechanism and principle. The problem that it＇s difficuh to fix the rollers is resolved from application consideration in this paper, in which a solution of the disturbance by ground＇s slight unsmooth is proposed. This robot can move towards all direction without body＇s turning, which can rotate a definite angle at its original position flexibly. The robot moves and rotates smartly without limits to the workspace, so a wide application future can be expected.
出处
《机械工程师》
2007年第9期18-21,共4页
Mechanical Engineer
