模块化轮式全向移动机器人底盘的设计  

Design of Modular Wheeled Omnidirectional Mobile Robot Chassis

作　　者：许航彬 王钢明[1] 朱家辉 梁冬泰[1] Xu Hangbin;Wang Gangming;Zhu Jiahui

机构地区：[1]宁波大学机械工程与力学学院,浙江宁波315211

出　　处：《机械制造》2024年第7期28-36,共9页Machinery

基　　金：浙江省公益技术应用研究计划项目(编号:LGG21E050008);宁波市公益性科技计划项目(编号:2022S004);宁波市科技创新2025重大专项(编号:2022Z075)。

摘　　要：针对常见农业轮式机器人底盘存在的运动灵活性不高、所需运动空间较大等问题,设计了模块化轮式全向移动机器人底盘。采用四轮支撑方案,通过两个具备独立转向驱动功能的模块化轮组配合两个万向轮实现底盘的灵活全向移动。建立运动学模型,得到各电机输入转速与底盘运行速度的关系。建立动力学模型,通过分析万向轮对驱动轮驱动力矩的影响,修正驱动力矩表达式。通过对驱动力矩的动态调整和控制,有效减少底盘运动打滑现象。通过仿真及样机试验,对底盘的直行、侧行、原地旋转进行运动控制,验证底盘稳定可靠的全向移动性。In order to solve the problems of low motion flexibility and large motion space required in the common agricultural wheeled robot chassis,a modular wheeled omnidirectional mobile robot chassis was designed.The four-wheel support scheme was adopted,and the flexible omnidirectional movement of the chassis was achieved by means of two modular wheels with independent steering drive function and two universal wheels.The kinematic model was established to obtain the relationship between the input speed of each motor and the running speed of the chassis.The dynamic model was established,and the expression of the driving moment was modified by analyzing the influence of the universal wheel on the driving torque of the driving wheel.Through the dynamic adjustment and control of the driving torque,the slippage of the chassis movement was effectively reduced.Through simulation and prototype test,the motion control of the straight,sideways and in-situ rotation of the chassis was carried out to verify the stable and reliable omnidirectional mobility of the chassis.

关 键 词：模块化 全向移动 机器人 底盘 设计 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]