摘要
Robocup中型组比赛中机器人全方位运动具备许多优势。文章通过对多轮驱动全方位移动足球机器人建立数学模型，并进行运动学、动力学分析，提出了其满足全方位运动的轮系要求，比较了三种典型全方位多轮机器人在不同方向最大平移速度，为车体的设计提供了依据。
Omni-directional movement takes advantages over the competition in Robocup middle size league. In this paper the mathematic model of dynamics and kinematics is built for analysis based on a Multi-wheeled mobile robot. The requirement of a robot＇s wheels arrangement for omni-directional motion is met, with the maximum translational velocity in different direction compared in three kinds of typical omni-directional robots. All those provided the design basis for robot body.
出处
《机电一体化》
2009年第5期61-64,共4页
Mechatronics
关键词
全方位运动
全方位轮
轮系布局
运动分析
omni-directional motion omni-direetional wheel arrangement of wheels kinematic analysis
