基于向量分析法对麦克纳姆轮全向移动平台的研究  

Research on Omni-directional Moving Platform of McNamum Wheel based on Vector Analysis Method

作　　者：刘卓沄 卢桂萍[1] 彭岗举 Liu Zhuoyun;Lu Guiping;Peng Gangju(Beijing Institute of Technology,Zhuhai,Zhuhai,Guangdong 519000,China;Zhuhai Huaxing Intelligent Manufacturing Technology Co.,Ltd.,Zhuhai,Guangdong 519000,China)

机构地区：[1]北京理工大学珠海学院,广东珠海519000 [2]珠海华星智造科技有限公司,广东珠海519000

出　　处：《机电工程技术》2022年第5期147-149,241,共4页Mechanical & Electrical Engineering Technology

摘　　要：随着机器人技术蓬勃发展,越来越多机器人竞赛出现。在大部分机器人竞赛中,麦克纳姆轮全向移动平台已经得到了广泛运用,其所存在的数学分析是当今全向轮中的一个研究热点。针对青少年对无法运用当下所学知识理解麦克纳姆轮运动原理这一问题,采用向量分析法分析麦克纳姆轮的运动过程,利用数学分析建立全向平移运动学模型,并在机器人竞赛中运用,实现机器人自主全向移动。基于此模型,使得青少年能够充分理解麦克纳姆轮的运动过程,正确使用麦克纳姆轮作为机器人的移动平台,并能通过简要的数学公式应用在机器人的运动控制中。与其他麦克纳姆轮运动方程相比更加通俗易懂,能够让青少年更好地运用,增强了青少年机器人竞赛的学术性,也可以提高青少年学生的创新实践能力和科学研究能力。With the rapid development of robot technology,more and more robot competitions appear.In most robot competitions,McNamum wheel omnidirectional mobile platform has been widely used,and its mathematical analysis is a research hotspot in omnidirectional wheel nowadays.Aiming at the problem that teenagers can't understand the movement principle of McNamum wheel by using the current knowledge,the movement process of McNamum wheel was analyzed by using vector analysis method,the omni-directional translation kinematics model was established by using mathematical analysis,and it was applied in robot competition to realize the autonomous omni-directional movement of robot.Based on the model,teenagers are allowed to fully understand the motion process of the McNamum wheel,correctly use the McNham wheel as the mobile platform for the robot,and can be applied to the motion control of the robot through a brief mathematical formula.It is more easy to understand than other McNamum wheel equations of motion,and enables better use for teenagers.Improving the academic nature of the youth robot competition can also improve the innovative practical ability of young students and the scientific research ability of young students.

关 键 词：麦克纳姆轮 向量分析法 运动分析 全向移动平台 青少年机器人竞赛 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]