This article is based on the omnidirectional mobile manipulator with mecanum wheels built at Shanghai University. The article aims to find and analyze the parameters of kinematic equation of the omnidirectional system...This article is based on the omnidirectional mobile manipulator with mecanum wheels built at Shanghai University. The article aims to find and analyze the parameters of kinematic equation of the omnidirectional system which affects its motion accuracy. The method of solving the parameter errors involves three phases. The first step is equation operation to achieve the equation of relative errors. The second step is to obtain the displacement errors of the system via experiment and combine the error results with kinematic equation deduction to solve the geometric parameter errors in two methods. The third step is to verify its validity via comparing experiments. We can then revise its kinematics equation afterwards.展开更多
Based on Mecanum wheels and“Y”-shaped planetary wheels,we combine these two kinds of wheels’respective motion principle with their advantages to design a new type of four-wheeled robot:install the Mecanum wheels at...Based on Mecanum wheels and“Y”-shaped planetary wheels,we combine these two kinds of wheels’respective motion principle with their advantages to design a new type of four-wheeled robot:install the Mecanum wheels at the end of“Y”-shaped planetary wheel group.The wheel designed based on Mecanum wheels and“Y”-shaped planetary wheel can adapt to the complex terrain such as stairs,steps,and at the same time it can achieve the rotation of the whole body in a limited space.This paper studies the adaptability of the four-wheeled robot to the stairs,analyzing and calculating the parameters of the four-wheeled robot and the stairs.展开更多
文摘This article is based on the omnidirectional mobile manipulator with mecanum wheels built at Shanghai University. The article aims to find and analyze the parameters of kinematic equation of the omnidirectional system which affects its motion accuracy. The method of solving the parameter errors involves three phases. The first step is equation operation to achieve the equation of relative errors. The second step is to obtain the displacement errors of the system via experiment and combine the error results with kinematic equation deduction to solve the geometric parameter errors in two methods. The third step is to verify its validity via comparing experiments. We can then revise its kinematics equation afterwards.
文摘Based on Mecanum wheels and“Y”-shaped planetary wheels,we combine these two kinds of wheels’respective motion principle with their advantages to design a new type of four-wheeled robot:install the Mecanum wheels at the end of“Y”-shaped planetary wheel group.The wheel designed based on Mecanum wheels and“Y”-shaped planetary wheel can adapt to the complex terrain such as stairs,steps,and at the same time it can achieve the rotation of the whole body in a limited space.This paper studies the adaptability of the four-wheeled robot to the stairs,analyzing and calculating the parameters of the four-wheeled robot and the stairs.
