一种轮毂驱动式移动机器人系统设计

Design of a Hub Driven Mobile Robot System

目前移动机器人的驱动系统主要采用传动式系统,但该系统存在结构复杂、能量传动效率低、底盘占用空间较大等缺点。针对这些问题,文章设计了一种轮毂驱动式移动机器人系统。首先,根据其应用背景提出了功能需求并制定了技术参数表,接着基于solidworks软件设计了移动机器人机械系统和轮毂电机的内部结构,并介绍了驱动系统中的轮毂电机驱动器。其次,采用模块化思想设计了移动机器人的硬件系统,同时分别设计了移动机器人的高低压电路系统。然后,基于移动机器人的运动学模型建立了分层控制思想,并采用几何追踪的预瞄控制算法设计了移动机器人的路径跟踪控制系统。最后,基于Simulink模型自动生成代码的方式开发软件系统,并通过路径跟踪实验证明了本文设计的移动机器人系统的合理性。

At present,the driving system of mobile robot mainly adopts the driving system,but the system has some disadvantages,such as complex structure,low energy transmission efficiency,large chassis space and so on.In order to solve these problems,this paper designs a wheel drive mobile robot system.First,according to its application background,the functional requirements and technical parameters are proposed.Then,based on SolidWorks software,the mechanical system of mobile robot and the internal structure of wheel motor are designed,and the wheel motor driver in the drive system is introduced.Secondly,the hardware system of the mobile robot is designed with modularization idea,and the high and low voltage circuit system of the mobile robot is designed.Then,based on the kinematic model of the mobile robot,the hierarchical control idea is established,and the path tracking control system of the mobile robot is designed by the preview control algorithm of geometric tracking.Finally,the software system is developed based on the Simulink model to generate code automatically,and the rationality of the mobile robot system designed in this paper is proved by path tracking experiment.