全方位小型足球机器人的运动学分析  

Kinematic Analysis of Omni-directional Small 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：《机械科学与技术》2007年第11期1408-1412,共5页Mechanical Science and Technology for Aerospace Engineering

摘　　要：在小型足球机器人两个前轮之间安装踢球器、控球器等装置不仅会对车体各部分的布局造成一定的影响,也会使小车的运动性能发生变化。本文建立了三轮和四轮全方位小型足球机器人的运动学模型,分析了主动轮速度和从动滚子速度随两前轮夹角不同而产生的变化,讨论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 small soccer robots, such as the installation of dribbling mechanism, can have a bit of disadvantageous influences on the layout of omnidirectional 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 omnidirectional small soccer robots with respect to angles between the two front wheels is established. The influences of the angles on the kinematic and dynamic performance of the body while the body is moving straightly along any direction is analyzed. The performance of three-wheel robots is compared with that of four-wheel robots.

关 键 词：机器人足球 全方位轮 运动学模型 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]