机械结构对两轮移动足球机器人运动精度影响研究

Study on Influence about Motion Precisoin of Two Wheel Soccer Robot Due to Mechanical Structure

以自行设计的两轮移动足球机器人的机械结构为对象,从理想情况和实际情况分别进行机器人小车的运动学分析与建模,进行比较并得出结论。分析了驱动轮半径对运动学模型的影响。最后从机械结构的设计上讨论了对小车运动精度的影响,并提出相关改进措施。

Based on the mechanical stucture of two wheel soccer robot that designed by ourselves.we analyze the kinematics of the robot car and build the mathematical model in ideal situation and real situation,give comparison and conclusion. Analyze the influence of radius on the kinematic model. At last,talk about the influence on motion precision due to the design of mechanical structure,and give some improve advices.