摘要
对几种全向移动机构进行综合比较的基础上设计了两种万向轮.在移动机器人本体上对这两种万向轮进行合理布局,采用四轮支撑形式,通过4个万向轮上的各个电机的联动使机器人实现全向移动功能.同时为了保证各万向轮能对实时路况做到自适应调节,采用悬架结构连接机器人本体和各个万向轮.最后对移动机器人进行运动学分析,得到了各电机输入转速与机器人运行速度的关系,验证了机器人的全向移动性能以及万向轮布局形式的合理性,为今后的运动控制和离线编程提供了依据.该移动机器人为需要全向移动的应用场合提供了一种完美的解决方案.
Based on the comparisons among several omnidirectional mechanisms,two types of universal wheelsare first designed.By configuring wheels on mobile robots,the omnidirectional mobile function is then realized via four-wheel supporting and motor collaboration.To ensure the adaptive adjustment on real traffic conditions,the robot body is next connected with universal wheelsthrough a suspension structure.Finally,the kinematic analysis is employed for the relationship between motor input rotaryspeeds and robot motion speeds.Therein,it is verified that the rationality of robot performance and wheel configuration is proven to set a reference to movement control and off-line programming solutions.
出处
《中国工程机械学报》
北大核心
2016年第4期327-331,共5页
Chinese Journal of Construction Machinery
关键词
全向移动
万向轮
运动学分析
齿轮传动
omnidirectional movement
universal wheel
kinematic analysis
geartransmission
