摘要
针对目前全向移动机器人驱动效率低、运行不平稳的问题,提出了一种采用双轮驱动的主动万向轮。通过对装备该万向轮的移动机器人进行运动学分析以及滚轮对地面的摩擦分析,验证了其可以实现高效驱动的全向移动功能。
Aiming at the problems of low driving efficiency and unstable operation of omni-directional mobile robot,an active universal wheel driven by two-wheel was proposed.Through the kinematic analysis of the mobile robot equipped with the universal wheel and the friction analysis of the roller on the ground,it is verified that it can realize the omni-directional movement function of efficient driving.
作者
王慰军
王逸
刘强
Wang Weijun;Wang Yi;Liu Qiang(Ningbo Institute of Materials Technology and Engineering,Chinese Academy of Sciences,Ningbo 315201,China;Zhejiang Key Laboratory of Robotics and Intelligent Equipment Technology,Ningbo 315201,China)
出处
《煤矿机械》
2022年第4期1-4,共4页
Coal Mine Machinery
基金
浙江省公益技术研究计划(LGG19E050007)。
关键词
双轮驱动
主动万向轮
全向移动
运动学分析
移动机器人
two-wheel drive
active universal wheel
omni-directional movement
kinematic analysis
mobile robot
