全方位移动载人机器人轮系的优化设计  

Optimization design for the wheels of omni-directional mobile manned robot

作　　者：范晶 吴晖 Fan Jing;Wu Hui(The 6th Research Institute of China Electronics Corporation,Beijing 100083,China)

机构地区：[1]中国电子信息产业集团有限公司第六研究所,北京100083

出　　处：《电子技术应用》2020年第9期57-59,68,共4页Application of Electronic Technique

摘　　要：自主设计的全方位移动机器人在载人时行进阻力较大,无法满足任务要求。针对这一问题,从材料选用和小轮安装方式两个方面改进设计机器人的全方位轮系,并通过ADAMS运动学仿真的手段初步验证了优化设计的正确性。最后,在全方位移动机器人上先后搭载旧式和新式两代全方位轮系做载人实验,结果证明:搭载新设计的全方位轮系后,载人机器人的移动效率、稳定性和平顺性都得到了大幅提升,满足任务要求。Because of high manned moving resistance,the self-designed omni-directional mobile robot cannot meet the task requirements.Aiming at this problem,the design of the omni-directional wheels of the robot is improved from two aspects,namely material selection and small wheel installation.And the correctness of the optimization design is preliminarily verified by means of ADAMS kinematic simulation.Finally,the old-style wheels and the new-style wheels are mounted respectively on the omni-directional mobile robot,used for manned experiment.The results show that after using the new design of omni-directional wheels,the mobile efficiency,stability and smoothness of the manned robot are greatly improved,which meets the task requirements.

关 键 词：全方位轮 载人机器人 ADAMS仿真 优化设计 

分 类 号：TN03[电子电信—物理电子学] TP242[自动化与计算机技术—检测技术与自动化装置]