轻工机械2018，Vol.36Issue(1)：24-28,5.DOI:10.3969/j.issn.1005-2895.2018.01.006
基于驱动轮同步转向机构的全向移动机器人
Design of Synchronous Steering Structure of Powered Wheel for Omnidirectional Mobile Robot
摘要
Abstract
Aiming at the problem of poor synchronization ability of existing rounded omnidirectional mobile robot in engineering application,based on wheeled omnidirectional moving mechanism,an omnidirectional synchronous steering mechanism was designed and it can achieve a stepper motor control four drive wheel synchronous steering.The working mechanism of the steering mechanism was analyzed and the steering mechanism was applied to an omnidirectional mobile robot.On this basis, a product prototype was developed mainly used in food manufacturer material handling.The kinematics of the robot had been analyzed, from which the interrelationship of the input motor speed and the robot′s ability of the omnidirectional mobility could be obtained.The result of kinematics analyzing the robot's ability of the omnidirectional mobility can be testified and the foundation of the robot's motion control can be provided.关键词
全向移动机器人/转向机构/运动学分析/驱动轮Key words
omnidirectional mobile robot/steering mechanism/kinematics analysis/drive wheel分类
信息技术与安全科学引用本文复制引用
阴贺生,张秋菊,宁萌..基于驱动轮同步转向机构的全向移动机器人[J].轻工机械,2018,36(1):24-28,5.基金项目
国家自然科学基金面上项目(51575236) （51575236）
2016年度江苏省普通高校专业学位研究生实践创新计划项目(SJLX16_0486). （SJLX16_0486）
