全向移动射击机器车系统设计与研究  

Design and Research of Omnidirectional Mobile Shooting Robot Vehicle System

作　　者：黄欢 高娜娜 陈子昱 HUANG Huan;GAO Na’na;CHEN Ziyu(Beijing Polytechnic College,Beijing 100042,China)

机构地区：[1]北京工业职业技术学院,北京100042

出　　处：《北京工业职业技术学院学报》2023年第4期6-10,37,共6页Journal of Beijing Polytechnic College

基　　金：2023年北京工业职业技术学院青年基金课题(BGY2023KY-07Q)。

摘　　要：以全国大学生机器人大赛ROBOTAC的移动射击赛为导向需求,设计了一种以STM32为控制核心、底盘装配四个独立悬挂麦克纳姆轮、结合多种电机控制的全向移动射击机器车。从硬件结构设计和软件算法两方面对机器车的设计方案进行详细阐述,并通过实验进一步验证。该设计符合大赛要求,既能高效稳定实现全向移动,又具备良好的射击效果,可以出色完成比赛中的各项任务。Taking the mobile shooting competition of the National College Robot Competition(ROBOTAC)as the guiding requirement,a omnidirectional mobile shooting robot vehicle was designed with STM32 as the control core,four independent suspension Mecanum wheels on the chassis,and multiple motor controls.Elaborate on the design scheme of the robotic vehicle from both hardware structure design and software algorithms,and further validate it through experiments.This design meets the requirements of the competition,which not only enables efficient and stable omnidirectional movement,but also has good shooting effects,and can excellently complete various tasks in the competition.

关 键 词：全向移动 麦克纳姆轮 射击机器车 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]