两种RoboCup中型组足球机器人的运动学模型  

Two kinds of kinematic model of soccer robot in RoboCup mid-size league

作　　者：刘祚时[1] 陈飞[1] 李强[1] 

机构地区：[1]江西理工大学,赣州341000

出　　处：《现代制造工程》2008年第1期124-126,29,共4页Modern Manufacturing Engineering

摘　　要：介绍RoboCup中型组足球机器人中最常见的两种轮式结构。从两轮驱动机器人与三轮全向驱动机器人的机械结构入手,通过分析计算建立了两种轮式机器人小车的运动学模型,得出前者存在非完整约束,而后者不存在这种约束,因此全向驱动的机器人可不需要事先做任何旋转运动而向任意方向运动。最后通过实际测试并根据两者在比赛中的实际表现论述其优、缺点,得出三轮驱动机器人是今后RoboCup中型组机器人足球比赛的发展趋势,提高其稳定性及承重是改进的当务之急。Introduces two most common mechanical structure of wheeled mobile robot in RoboCup mid-size league. Analyzed these two kind of wheels＇ mechanism. And the mathematical model of robot kinematics is established. Then draw the conclusion that the two wheeled robot exist nonholonomic constraint but the three wheeled robot not. So the latter can do any direction movement without doing any rotation. Then discussed the advantage and disadvantage of these two kind of mechanical structure. And draw the conclusion that to improve the three wheeled robot＇s stability and carrying capacity is very important.

关 键 词：足球机器人 机械结构 运动学模型 

分 类 号：TH122[机械工程—机械设计及理论]