全方位移动机器人动力学研究  

The Research Of Dynamic for an Omni-Directional Mobile Robot

作　　者：张燕超 崔吉 ZHANG Yanchao;CUI Ji(Special Equipment Safety Supervision Inspection Institute of Jiangsu Province,Nanjing 210036,China;Nanjing College of Information Technology,Nanjing 210023,China)

机构地区：[1]江苏省特种设备安全监督检验研究院,江苏南京210036 [2]南京信息职业技术学院,江苏南京210023

出　　处：《机械》2019年第3期18-21,63,共5页Machinery

基　　金：江苏省第五期"333工程"资助项目(BRA2016331);江苏省高校自然科学研究面上项目(16KJB470019);院级自然科研基金项目青年重点项目(YK20160201)

摘　　要：动力学是全方位移动机器人运动控制和导航定位研究的基础,但建立精确动力学模型较为困难。以四轮正交驱动全方位移动机器人为研究对象,探讨拉格朗日法求解移动机器人动力学模型可靠性,通过MATLAB/Simulink仿真和在实验室环境下样机测试来分析驱动力矩和机器人速度、加速度运行参数关系,进而验证该方法的正确性。从仿真曲线和实验数据可分析出机器人运动特性与机械结构关系,可为其他形式移动机器人的动力学研究提供参考。Dynamics is the basis of the research on motion control and navigation positioning of omni-directional mobile robot,but it is more difficult to establish precise robot dynamics model.Aiming at a certain kind of an omni-directional mobile robot which consists of four orthogonal wheels,the reliability of the dynamic model of the robot is discussed by using Lagrange method.The relationship between driving torque and operating parameters of robot velocity and acceleration is analyzed through MATLAB/Simulink simulation and prototype testing in laboratory environment.So the correctness of the dynamic model is verified.The relationship between robot motion characteristics and mechanical structure can be analyzed from simulation curves and experimental data.It can provide reference for other mobile robot dynamics research.

关 键 词：全方位移动机器人 动力学 MATLAB仿真 拉格朗日方程 

分 类 号：TP391.7[自动化与计算机技术—计算机应用技术]