高技术通讯2017，Vol.27Issue(2)：184-192,9.DOI:10.3772/j.issn.1002-0470.2017.02.011
六轮移动机器人运动学建模与仿真
Kinematics modeling and simulation of a six wheeled mobile robot
摘要
Abstract
To meet the needs of the petrochemical industry, a six wheeled mobile robot with strong flexibility and the ability to work in narrow space and complex environments was designed.The kinematics model of the robot was set up by using the wheel configuration of mixing four omnidirectional wheels with two ordinary rubber wheels, and the relationship between the wheel moving parameters and the position appearance of the robot was analyzed, The ADAMS software was adopted to build the simulation model of the robot, and through the kinematics simulation of the performance of linear driving and pivot steering, the robot's kinematics curve was obtained, thus the correctness of the kinematic model and the rationality of the robots' mechanism design were verified.The results of the on situ steering error experiment showed the robot's strong ability to place steering.Its minimum error reached 2.299mm, meeting the needs of the robot's high flexibility.关键词
六轮移动机器人/运动学模型/运动学仿真/原地转向误差实验Key words
six wheeled mobile robot/kinematic model/kinematics simulation/in situ steering error experiment引用本文复制引用
王殿君,吴乐,郑世杰,关似玉,刘占民..六轮移动机器人运动学建模与仿真[J].高技术通讯,2017,27(2):184-192,9.基金项目
863计划(2012AA041402)资助项目. （2012AA041402）
