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一种全方位移动机器人
Alternative TitleAn omnidirectional mobile robot
叶长龙; 马书根; 回丽
Department机器人学研究室
Source Publication中国科学:信息科学
ISSN1674-7267
2011
Volume41Issue:2Pages:181-189
Indexed ByCSCD
CSCD IDCSCD:4131503
Contribution Rank1
Funding Organization辽宁省教育厅项目(批准号:2008553); 国家高技术研究发展计划(批准号:2007AA041703)资助
Keyword全方位移动机器人 机构设计 运动学分析 轮式移动机器人 全方位机器人 接触区 万向轮 麦克纳姆轮 被动运动 相互补充
Abstract研制了一种新型全方位轮式移动机器人,该机器人主要由三个特殊的轮式结构—MY轮组成.MY轮利用球体的运动原理,将球体分为接触区和非接触区,利用两球体的接触区与非接触区的相互补充实现了万向轮的功能.两部分球体的被动旋转轴成45度交叉布置,实现了与地面的连续接触; 同时该结构也增加了万向轮的强度.对轮式移动机构的运动学分析和仿真证明了该机构能够实现全方位移动.机器人的运动实验也证明了该万向轮机构不仅能够实现全方位运动,而且还能够跨越障碍物.
Other AbstractA novel omnidirectional wheeled mobile robot,mainly composed of three special wheeled structuresMY 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? to realize cont...
Language中文
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Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/7259
Collection机器人学研究室
Corresponding Author叶长龙
Affiliation1.沈阳航空航天大学机电工程学院
2.中国科学院沈阳自动化研究所机器人学国家重点实验室
3.日本立命馆大学机器人技术系
Recommended Citation
GB/T 7714
叶长龙,马书根,回丽. 一种全方位移动机器人[J]. 中国科学:信息科学,2011,41(2):181-189.
APA 叶长龙,马书根,&回丽.(2011).一种全方位移动机器人.中国科学:信息科学,41(2),181-189.
MLA 叶长龙,et al."一种全方位移动机器人".中国科学:信息科学 41.2(2011):181-189.
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