An omnidirectional mobile robot

查看全文 作　　者：YE [1,2]ChangLong;MA [2,3]ShuGen;HUI [1]Li

机构地区：[1]School of Mechatronics Engineering, Shcnyang Aerospace University, Shenyang 110136, China;[2]State Robotics Laboratory, Shenyang Institute of Automation, Shenyang 110016, China;[3]Department of Robotics, Ritsumeikan University, Kusatsu 525-8577, Japan

出　　处：《Science China(Information Sciences)》索引2011年第54卷第12期,共8页

基　　金：supported by Educational Office of Liaoning Province(Grant No.2008553);the National High-Tech Research & Deretopment Program of China(Grant No.2007AA041703) 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. 关键词：全方位移动机器人轮式移动机器人全方位运动运动原理全方位轮运动学分析非接触式交错布置

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An omnidirectional mobile robot

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