四轮移动机器人平台的设计与实现

Design of Omni-directional Mobile Robot with Alternate Wheel

提出了一种基于连续切换轮的移动机器人平台的设计与实现。每个连续切换轮由十根自由运动的辊子组成,轮子不仅能轴向滚动,同时每根辊子也能绕自身轴旋转。轮子采用直流无刷电机单独驱动的方式。主控制器采用工控主板,通过PCI插口扩展CAN通信卡,与四个电机驱动器组成一个CANOpen通信网络。通过CANOpen网络,工控主板可以实时地与四个电机驱动器通信,工控主板发送指令给电机驱动器,电机驱动器反馈电机电流、转速和位置等信息给工控主板。试验结果表明,基于控制系统的移动机器人,通过四轮的运动学组合,能实现全向运动,为以后的深入研究打下基础。

The design and implementation of anomni-directional mobile robot platform based on continuous switching wheel was proposed in this paper. The whole robot system was composed of four alternate omni-directional wheels. Each continuous switching wheel was comprised of 10 freely moving rolls,which could not only roll in the axial direction,but also rotate around the axis of each roller. All the wheels wereindependently driven by DC brushless motors. The main controller used an industrial control motherboard,it extended the CAN communication card through the PCI socket,and formed a CANOpen communication network with four motor drivers.Through the CANOpen network,the industrial motherboard could communicate with four motor drivers in real time. The industrial motherboard sent instructions to the motor driver,and the motor driver would feedback the current,speed and position information of motors to the industrial control motherboard.The experimental results show that the mobile robot based on control system can achieve omni-directional motion through the kinematic combination of four wheels,and lay the foundation for further researches.