四轮全方位轮式移动机器人的运动学模型研究  

A Study of the Kinematics Model of a Mobile Robot with Four Omni-directional Wheels

作　　者：杨世强[1] 傅卫平[1] 张鹏飞[1] 

机构地区：[1]西安理工大学机械与精密仪器工程学院,西安710048

出　　处：《机械科学与技术》2009年第3期412-415,420,共5页Mechanical Science and Technology for Aerospace Engineering

基　　金：国家自然科学基金项目(10872160);陕西省机械制造装备重点实验室项目(05JS29)资助

摘　　要：具有平面上全部3个自由度的全方位移动机器人,可以实现灵活的运动,因而得到广泛的关注。本文在分析全方位轮式移动机器人特性的基础上,针对麦克纳姆轮在一个方向上为主动,在与其垂直的方向上为从动的特点,根据刚体运动学原理,对一种四轮全方位轮式移动机器人的运动学方程进行了推导,建立了运动学模型,分析了运动学误差。最后,基于滚动窗口路径规划,通过计算机仿真与实验验证,结果表明该运动学模型正确可行。Omni-directional mobile robots with three degrees of freedom possess high mobility on the motion plane. An omni-directional mobile robot is constructed which consists of four sets of wheel assemblies equally spaced at 90 degrees from one another. Each of its wheel assembly consists of a pair of Mekanum wheels with an active （ the propolling direction of the actuator） and a passive （free-wheeling） direction which are orthogonal to each other. The kinematic model of the mobile robot is established according to rigid kinematics, and the kinematic precision of the omni-directional wheel is analyzed. The validity and feasibility of this kinematic model is verified by MATLAB simulation and experiments in laboratory based on rolling window path planning algorithm.

关 键 词：全方位轮 移动机器人 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]