一种全方位移动机器人的系统设计  

Design of Omni-directional Mobile Robot System

作　　者：李明河[1] 王伟[1] 王健[1] 王伟[2] 王殿君[2] 薛龙[2] 

机构地区：[1]安徽工业大学电气信息学院,安徽马鞍山243002 [2]北京石油化工学院机械工程学院,北京102617

出　　处：《安徽工业大学学报（自然科学版）》2011年第1期51-54,共4页Journal of Anhui University of Technology（Natural Science）

基　　金：国家863计划项目(2009AA04Z208;2007AA04Z255);北京市教委科技发展计划资助项目(KM200710017005);北京市属高等学校人才强教深化计划资助(PHR200907221;PHR201008355)

摘　　要：针对机器人寻找场地黑色中心区域的任务要求,研制一种四轮驱动全方位移动机器人。依据机器人所需的驱动力,计算驱动电机的功率,并对电机进行选型,分析机器人的转向性能,设计基于ATmega128单片机的控制系统。机器人性能实验结果表明:设计的全方位移动机器人采用前、后轮逆相位转向时,运动稳定性较好,并能够准确地找到目标点。The omni-directional mobile robot possessed high flexibility and maneuver-ability,since it can run on the planar surface freely under the precondition of keeping the stance of the robot.Developed a kind of four-wheel-driving omni-directional mobile robot under the condition of finding the black central region of the platform by robot.Calculated the motor power according to the driving force required,selected the type of motor, analyzed the steering performance of robot,designed control system on base of ATmegal128 MCU.Robot performance experiment showed that the omni-directional mobile robot had good stability of motion,and could achieve the position accurately by the reverse turning of front wheels and rear wheels.

关 键 词：全方位移动机器人 控制系统 转向半径 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]