摘要
全方位智能移动平台车可以实现平面内的3自由度全方位移动,机动性好、应用广泛。介绍了单平台移动车硬件和软件的设计方案,并论述了平台移动车运动控制中的理论。同时提出了一种可行的柔性连接联动行走方案,并论述了其平动的运动理论模型。在此基础上设计开发了基于STM32微处理器和麦克纳姆轮的实际应用产品。结果表明:该产品可以实现二维平面内任意方向的移动功能,运行平稳、转向灵活;两台联动时可实现带夹角姿态平动行走,从车实时根据夹角θ的变化调节自己各轮的运动速度;速度多档位连续可调,可实现装配过程中的高精度定位;手持遥控器实时显示车体运行状态信息,方便可靠易于维护。
Omnidirectional mobile platform can achieve a full range of 3 degrees of freedom in-plane, maneuverable and widely used. The overall design scheme of the platform was introduced and the theory of motion and control was discussed . At the same time, an effective solution was presented to the linkage walking of platform by flexible connection, and the kinematics model was analysed about omnidirectional mobile platform. On this basis, the practical product was designed and developed based on STM32 microprocessor and mecanum wheel. The test results show that this product can realize the moving function in any direction in the two-dimensional plane, running smoothly and steering flexibly. The speed is provided with a plurality of steps and each step can be adjusted continuously ,and because of this it can achieve high precision during assembly. The real-time status information of the operating are displayed in the handheld remote control which is convenient, reliable and easy to maintain.
出处
《机床与液压》
北大核心
2016年第23期34-37,共4页
Machine Tool & Hydraulics
