差动机构在全方位移动机器人上的应用

Application of Differential Mechanism in Omni-directional Mobile Robot

提出一个由差动机构组成的全方位移动机器人。该机器人有4组轮,每组包括一个主动轮和一个从动轮,并由同样的差动机构组成。本文阐述了该机器人的机构设计和控制系统,并对其运动学进行了分析。该机器人的特点是能够迅速改变行进方向,包括进行半径为零的原地转弯,具有较好的全方位性。

This paper presents an omni-directional mobile robot composed of differential mechanism. The mobile robot is driven by 4 groups of wheels, and each group includes a driving wheel and a free wheel. This paper describes the mechanism design, the kinematics and the control system of the mobile robot. The feature of the mobile robot is that it can change the navigating direction with any rotation radium, so it has the flexible omni-direction.