全方位F180足球机器人的运动学分析  

Kinematic Analysis of Omni-directional F180 Soccer Robot

作　　者：聂晓璐[1] 赵臣[1] 

机构地区：[1]天津大学机械工程学院,天津300072

出　　处：《机电一体化》2006年第4期28-31,共4页Mechatronics

摘　　要：在F180(小型)足球机器人车体的两前轮之间安装控球机构等装置会对全方位轮的布局造成一定的影响,从而影响车体的运动性能。文章建立了三轮和四轮全方位小型足球机器人的主动轮速度和从动滚子速度随两前轮夹角变化的运动学模型,分析了车体沿任意方向直线运动时夹角的变化对车体运动性能的影响,对车体机构的设计有很好的指导意义。Installations of some specific devices between front wheels of the omni- directional F180 soccer robots, such as the installation of dribbling mechanism, can have a bit of disadvantageous influences on the layout of omni - directional wheels and consequently influence the kinematic and dynamic performance of the whole body. In this paper, the kinematic model of the velocities of active wheel and passive rollers of three - wheel and four - wheel omni - directional F180 soccer robots with respect to angles between the two front wheels is established and also the analysis of the influences of angles on the kinematic and dynamic performance of the body while the body is moving straightly along any direction is presented. This paper may be of some instructive effects in terms of the mechanical design of the robot body.

关 键 词：全方位轮 夹角 从动滚子 运动学模型 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]