六轮移动机器人运动学建模与仿真  

Kinematics modeling and simulation of a six wheeled mobile robot

作　　者：王殿君[1] 吴乐[2] 郑世杰 关似玉 刘占民[1] 

机构地区：[1]北京石油化工学院机械工程学院,北京102617 [2]北京化工大学机电工程学院,北京100029 [3]机器时代(北京)科技有限公司,北京100083

出　　处：《高技术通讯》2017年第2期184-192,共9页Chinese High Technology Letters

基　　金：863计划(2012AA041402)资助项目

摘　　要：针对石化行业的需求,设计了一款具有较强运动灵活性的适合在狭小空间、复杂环境中工作的六轮移动机器人。采用4个全向轮与两个普通橡胶车轮混搭的车轮配置方案,建立机器人的运动学模型,并分析了车轮的运动参数与机器人本体位姿之间的关系;运用ADAMS仿真软件构建了机器人的仿真模型,通过对直线行驶、原地转向性能进行运动学仿真,得到了机器人的运动学曲线,验证了运动学理论模型的正确性和机器人机构设计的合理性。原地转向误差实验表明,机器人具有较强的原地转向能力,原地转向最小误差可达到2.299mm,较好地满足了该机器人的高灵活性需求。To meet the needs of the petrochemical industry, a six wheeled mobile robot with strong flexibility and the ability to work in narrow space and complex environments was designed. The kinematics model of the robot was set up by using the wheel configuration of mixing four omnidirectional wheels with two ordinary rubber wheels, and the relationship between the wheel moving parameters and the position appearance of the robot was analyzed, The AD- AMS software was adopted to build the simulation model of the robot, and through the kinematics simulation of the performance of linear driving and pivot steering, the robot＇ s kinematics curve was obtained, thus the correctness of the kinematic model and the rationality of the robots＇ mechanism design were verified. The results of the on situ steering error experiment showed the robot＇ s strong ability to place steering. Its minimum error reached 2. 299mm, meeting the needs of the robot＇ s high flexibility

关 键 词：六轮移动机器人 运动学模型 运动学仿真 原地转向误差实验 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]