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题名: Development of an Omnidirectional Mobile Platform
作者: Ye ZL(叶长龙) ; Ma SG(马书根)
作者部门: 机器人学研究室
会议名称: IEEE International Conference on Mechatronics and Automation
会议日期: August 9-12, 2009
会议地点: Changchum, China
会议主办者: IEEE, IEEE Robot & Automat Soc, Changsha Univ Scie & Technol, Kagawa Univ, Natl Nat Sci Fdn China, Chinese Assoc Automat, Robot Soc Japan, Japan Soc Mech Engn, Japan Soc Precis Engn, Soc Instrument & Control Engineers, Harbin Engn Univ, Univ Elect Commun, Univ Elect Sci & Technol China, Beijing Univ Technol, Jilin Univ, Kagoshima Univ, Harbin Inst Technol, Assoc Young Sci &Technol
会议录: 2009 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS 1-7, CONFERENCE PROCEEDINGS
会议录出版者: IEEE
会议录出版地: NEW YORK
出版日期: 2009
页码: 1111-1115
收录类别: CPCI(ISTP) ; EI
ISBN号: 978-1-4244-2692-8
关键词: omnidirectional robot ; mechanism design ; kinematics ; sliced ball structure
摘要: A novel omnidirectional wheeled mechanism, named as MY wheel, is developed based on the sliced ball structure in this paper. With mutual passive motion of two sliced balls on the same one active axis, an omnidirectional motion can be achieved. The passive rotational axes of two sliced balls are inclined with 45 degree in two parallel planes, which are perpendicular to the active axis, to realize continuous contact with the ground. This wheeled mechanism also improves the wheel intensity to carry a heavy burden, which is a key problem for omnidirectional mechanism. An omnidirectional mobile platform composed of three MY wheels is developed for validating MY wheel mechanism. Kinematic analyses are presented to verify the omnidirectional movement of this platform. Experimental results show the validity of this platform.
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/8666
Appears in Collections:机器人学研究室_会议论文

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