躲闪机器人同步移动转向机构运动学分析

Kinematics Analysis of Synchronized Mobile Steering Mechanism for Dodge Robot

针对现有的机器人移动机移动慢、转向能力差以及难控制的问题,设计了一种运动分级明确、结构简单的躲闪机器人同步移动转向机构,用于实现xOy平面内全方位快速移动。介绍了该机构的运动学原理以及关键参数的设计依据;利用差速原理对移动机构进行转向差速分析,得到了移动机构的运动学方程以及正逆解。同时,通过UG软件建立了该结构的三维模型,对模型进行合理简化后导入Adams软件中进行模拟分析,其结果验证了理论设计的准确性,达到了预期目的,为机器人的设计与开发提供重要参考。

Aiming at the problems of slow movement,poor steering ability and difficult control for the ex⁃isting robot,a synchronous mobile steering mechanism with clear motion classification and simple structure is designed for dodging robot to realize omni-directional and fast movement in xOy plane.The kinematics princi⁃ple and the design basis of key parameters of the mechanism are introduced.The steering differential analysis of the mobile mechanism is carried out by using the differential principle,and the kinematics equation.The for⁃ward and inverse solutions of the mobile mechanism are obtained.At the same time,the three-dimensional mod⁃el of the structure is established by UG software.After reasonable simplification,the model is imported into Ad⁃ams for simulation analysis.The results verify the accuracy of the theoretical design and achieve the desired pur⁃pose.It provides an important reference for the design and development of robots.