摘要
以嵌入式运动控制体系为基础,以移动机器人为研究对象,结合三轮结构轮式移动机器人,对二轮差速驱动转向自主移动机器人运动学和动力学空间模型进行了分析和计算,研究和设计了自主移动机器人电机驱动系统,开发了一套二轮差速驱动转向移动机器人电机驱动系统,完成了系统各部件的整体装配和调试。试验结果表明,该设计方案可行、系统运行稳定可靠、成本低廉、所用元件易于购置,具有较好的实用的价值和应用前景。
Taking embedded control system as the foundation and mobile robot as the research ob-ject,the kinematics and dynamics space models of the autonomous mobile robot which is swerved by differ-ential driving for 2 driving wheels are analyzed and calculated,combining the wheeled mobile robot with three wheels.Then the motor driving system of mobile robot is researched and designed and a motor driving system for autonomous mobile robot which is swerved by the differential driving for the 2 driving wheels is developed.Afterwards the whole assembly of all components and system debugging are accomplished.The results of experiments show that the design scheme is viable,and the system is stable and reliable at work with its lower cost and easy for component purchase,which is valuable in practice and in application.
出处
《机械设计与制造》
北大核心
2011年第9期115-117,共3页
Machinery Design & Manufacture
基金
内蒙古科技大学创新基金项目(2009NC029)
