An omnidirectional mobile robot

被引：6
|
作者：
Ye ChangLong [1 ,2 ]
Ma ShuGen [2 ,3 ]
Hui Li [1 ]
机构：
[1] Shenyang Aerosp Univ, Sch Mechatron Engn, Shenyang 110136, Peoples R China
[2] Shenyang Inst Automat, State Robot Lab, Shenyang 110016, Peoples R China
[3] Ritsumeikan Univ, Dept Robot, Kusatsu 5258577, Japan
来源：
SCIENCE CHINA-INFORMATION SCIENCES | 2011年 / 54卷 / 12期
关键词：
omnidirectional mobile robot; mechanism design; kinematics; DESIGN;
D O I：
10.1007/s11432-011-4275-y
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A novel omnidirectional wheeled mobile robot, mainly composed of three special wheeled structures-MY wheel, is developed in this paper. Based on the movement principle of sphere, the sphere of the special wheel is divided into contact part and non-contact part. The function of the omnidirectional wheel is realized utilizing the mutual complementarities of the two parts of the sphere. The passive rotational axes of two parts of the sphere are in staggered arrangement to each other at an angle of 45 degrees to realize continuous contact with the ground. At the same time, this structure also improves the strength of omnidirectional wheel. It is verified by the kinematic analysis and simulation of the wheeled mobile mechanism that the mechanism can achieve the omnidirectional movement. It is also proved by the movement experiment of the mobile robot that the omnidirectional mechanism can not only achieve the omnidirectional movements but also step over obstacles.
引用
收藏
页码：2631 / 2638
页数：8
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