一种全方位移动机器人设计与研究  

Design of an Omni-directional Mobile Robot

作　　者：冯治国[1] 王芸芸[1] 窦忠宇 

机构地区：[1]贵州大学机械工程学院,贵州贵阳550025

出　　处：《贵州大学学报（自然科学版）》2015年第5期66-68,共3页Journal of Guizhou University:Natural Sciences

基　　金：贵州省科学技术基金项目资助(黔科合J字[2010]2255)

摘　　要：在研究德国kassel大学的全方位轮结构与运动功能的基础上,设计一种新型全方位轮,并通过对比分析移动机器人轮子配置方案,构建四轮全方位移动机器人平台。方案中选用的DSP控制器,实现移动机器人平台的直线、斜线及旋转的运动模式。实验证明,该平台运动平稳,获得良好的全方位运动效果。Based on analyzing the omni-wheel~ structure and its kinematics implement function, an omni- wheel was designed. The mobile robot of four omni-wheel was built after the transfer of three and four omni-wheel was researched. Straight and oblique and rotary motion were controlled based on DSP. The results indicate that the the performance of mobile robot is stable and omni-directional motion is achieved.

关 键 词：全方位轮 移动机器人 运动控制 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]