现代农业装备2026，Vol.47Issue(3)：102-109,8.DOI:10.3969/j.issn.1673-2154.2026.03.010
服务机器人全向移动底盘设计与测试
Development of a Service Robot Omnidirectional Chassis
摘要
Abstract
To solve the poor mobility adaptability of service robots in complex scenes,this paper designed an omnidirectional mobile chassis with Mecanum wheels.It adopted X-shapted wheel layout and adaptive spring suspension with rotating cone to improve stability on uneven roads.Controlled by STM32,it combined kinematics algorithm,PID closed-loop control and gyroscope compensation to correct displacement deviation.Tests showed that the 240 mm×260 mm prototype finishes omnidirectional movements smoothly with precision within 1-3mm,proving the rationality of its structure and control strategy.关键词
全向移动机器人/麦克纳姆轮/自适应悬挂/PID算法/陀螺仪/样机测试Key words
omnidirectional robot/Mecanum wheel/adaptive suspension/PID/gyroscope/prototype test分类
信息技术与安全科学引用本文复制引用
崔鹏生,郭沛霖,任天昌,王俊林,陶奕成,张晓莹..服务机器人全向移动底盘设计与测试[J].现代农业装备,2026,47(3):102-109,8.基金项目
大学生创新训练计划省级项目(S202512746037X) （S202512746037X）
郑州科技学院2025年大学生创新创业训练计划项目(DC202536) （DC202536）
