Mecanum轮式运动系统，有三个轮子

2016 4th International Conference on Applied Robotics for the Power Industry (CARPI) Pub Date : 2016-10-01 DOI:10.1109/CARPI.2016.7745652

Yongxing Hao, Xu Dong, Jianxiang Li, Shi-you Mu, Xing-zhao Wang

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引用次数: 5

摘要

全向轮式运动系统以其转向灵活、结构稳定、控制精度可靠等优点，成为室内移动机器人系统的基础。本文建立了两种由三个机械轮驱动的全向平台，通过在仿真软件中建立两种模型的动力学仿真，并根据动力学仿真分析，试图找出机械轮驱动对平台运动的影响，从而选择出较好的模型。所有这些工作也将为下一步所需的控制理论奠定基础。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Mecanum wheeled motion system with three wheels

Omni-directional wheeled motion system with its flexible steering, stable structure and reliable control precision, become the basis of the mobile robot system which used indoor. In this paper two kinds of Omni-directions platform which wheeled by three Mecanum wheels are built up, by setting up the dynamical simulations about the two model based in simulation software, and according to the dynamic simulation analysis, we try to find the affections of the platform motion caused by the drive force on Mecanum wheels, and choose the better model. All of the work will also make the basis for the control theory which is needed by the next step.

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2016 4th International Conference on Applied Robotics for the Power Industry (CARPI)

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