全方位轮式排球智能小车的几种典型运动分析  

Kinematics Analysis of Some Typical Motion of Volleyball Intelligent Cars with Omni-directional Wheels

作　　者：杨飞[1] 刘正士[1] 

机构地区：[1]合肥工业大学机械与汽车工程学院,安徽合肥230009

出　　处：《机械工程与自动化》2008年第1期130-132,共3页Mechanical Engineering & Automation

基　　金：国家重点科技攻关计划项目;奥运科技专项子课题(2005BA904B04)

摘　　要：主要根据全方位轮运动学原理,建立麦卡姆型轮运动模型,并对模型进行运动分析。分析了三轮Δ排列时,智能小车分别作曲线运动、双路径运动(Dual-path)时各个驱动轮理论速度变化规律,验证了通用轮式智能小车平面行走的灵活性,并为控制智能小车完成特定运动提供理论依据。Basing on the kinematics theory of omni-directional wheel,this paper focuses on the kinematics modeling of Mekanum wheels. It analyzes the change law of the velocity of the intelligent car with three omni-directional wheel triangular layout when it performs curvilinear motion and dual-path respectively,and the mobility of intelligent car in plane is tested. It provides a theoretical basis for the control of the intelligent car motion.

关 键 词：全方位轮 运动学 智能小车 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]