摘要
为了实现在有限空间内对机器人的位置进行精确控制的目的,设计了Mecanum三轮全向移动平台。通过分析滚子的几何模型,建立了滚子轮廓面参数方程和轴截型曲线方程。根据滚子的参数模型得到了全向移动平台速度和Mecanum轮角速度之间的关系方程,完成了全向移动平台控制系统的设计。在此基础上制作了Mecanum三轮全向移动平台,并进行了运动性能试验。Mecanum三轮全向移动平台可以实现3个互成120°的直线移动和绕自身中心旋转的正、反方向运动,在轮式移动机构中其全向移动能力具有明显优势。研究结果表明:该移动平台运动方式灵活,能够在狭窄空间中实现精确定位、原地调整姿态和在二维平面上自由运动。
In order to achieve the purpose of precise control of the robot position within the limited space, the omni-directional mobile plat- form with three Mecanum wheels was designed. After the analysis of roller geometric model, the parameter equation of roller contour surface and axial section curve equation was established. Based on roller parameter model, the relation equation between the velocity of omni-direc- tional mobile platform and the angular velocity of Mecanum wheel was established. A design method was presented to the control system of omni-directional mobile platform. The prototype of the omni-directional mobile platform with three Mecanum wheels was made and tested. A- long three fixed concurrent lines meeting at 120° and rotation directions, positive-negative motion of platform was precisely realized. Com- pared with wheel moving mechanism, the platform was considered to be one of the best, The results indicate that the flexible platform can ar- rive at high precision position, adjust posture on the spot and move freely in a two-dimensional surface.
出处
《机电工程》
CAS
2013年第11期1358-1361,1378,共5页
Journal of Mechanical & Electrical Engineering
