一种全方位移动机器人设计与研究

Design of an Omni-directional Mobile Robot

在研究德国kassel大学的全方位轮结构与运动功能的基础上,设计一种新型全方位轮,并通过对比分析移动机器人轮子配置方案,构建四轮全方位移动机器人平台。方案中选用的DSP控制器,实现移动机器人平台的直线、斜线及旋转的运动模式。实验证明,该平台运动平稳,获得良好的全方位运动效果。

Based on analyzing the omni-wheel~ structure and its kinematics implement function, an omni- wheel was designed. The mobile robot of four omni-wheel was built after the transfer of three and four omni-wheel was researched. Straight and oblique and rotary motion were controlled based on DSP. The results indicate that the the performance of mobile robot is stable and omni-directional motion is achieved.