Mecanum轮式全方位移动机器人运动学分析与仿真  

Kinematics Analysis and Simulation of Mecanum Wheeled Omnidirectional Mobile Robot

作　　者：陈业秋 贾茜[1] 张四弟[1] 李耀 CHEN Yeqiu;JIA Xi;ZHANG Sidi;LI Yao(Nanjing Institute of Engineering,Nanjing 211167)

机构地区：[1]南京工程学院,南京211167

出　　处：《现代制造技术与装备》2021年第9期73-75,共3页Modern Manufacturing Technology and Equipment

摘　　要：针对Mecanum轮式全方位移动机器人的运动特性进行分析,建立运动学方程,分析机器人全方位移动原理,确立车轮转速与机器人运动速度的关系,并使用SolidWorks和ADAMS软件完成对全方位移动机器人的三维建模及运动学仿真分析。This paper analyzes the motion characteristics of Mecanum wheel omni-directional mobile robot,establishes the kinematics equation,analyzes the principle of omni-directional mobile robot,and establishes the relationship between wheel speed and robot speed;Using SolidWorks and ADAMS software,complete the three position modeling and kinematics simulation analysis of omnidirectional mobile robot.

关 键 词：MECANUM轮 SolidWorks建模 ADAMS仿真 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]