一种全方位移动平台的运动特性研究  

The Research of Kinetic Characteristic for an Omni-directional Mobile Platform

作　　者：张燕超 孙民[1] 黄凯[1] ZHANG Yanchao;SUN Min;HUANG Kai(Special Equipment Safety Supervision Inspection Institute of Jiangsu Province,Nanjing 210036,China)

机构地区：[1]江苏省特种设备安全监督检验研究院

出　　处：《机电工程技术》2019年第9期54-57,共4页Mechanical & Electrical Engineering Technology

摘　　要：以4轮正交驱动全向轮圆形底盘全方位移动平台为研究对象,采用逆运动学方程建立了平台的运动学模型。在分析各驱动轮协调运动实现平台的原地旋转、横向、纵向和斜向4种基本运动形式的基础上,研究了该平台在圆弧和直角弯道的路径规划。在圆弧弯道路径中,通过Matlab仿真得出平台中心在圆弧轨迹中各驱动轮的速度和加速度曲线,证明了全方位平台中心圆弧运动的可行性。在直角弯道路径中,列举3种可顺利通行的运动组合形式,并以时间为标准确定了最优路径,进一步证实了全方位移动的特点及平台运动的机动性。Aiming at a certain kind of an omni-directional mobile platform,which consist of a circular chassis and four orthogonal wheels.The mathematical model of the platform is established by inverse kinematics equation.On the basis of analyzing the four basic motion forms,such as otating,lateral moving,longitudinal moving,oblique moving.The path planning of the platform in arc and right angle curves is studied.In the circular arc path,the velocity and acceleration curves of each driving wheel in the arc trajectory are obtained by simulation.The feasibility of circular arc trajectory is proved.In the right angle curve path,the three kinds of motion combination forms are listed.The optimal path is determined by time.The characteristics of omni-directional movement and the mobility of platform movement are further confirmed.Large amount utility of digital data brings about much maladies for the multimedia information’s security.

关 键 词：全方位移动平台 运动规划 圆弧路径 逆运动学 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]