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工程设计学报
工程设计学报  2016, Vol. 23 Issue (6): 633-638    DOI: 10.3785/j.issn.1006-754X.2016.06.017
通用零部件设计     
全向移动机器人驱动万向轮的设计与实现
王慰军, 杨桂林, 张驰, 陈庆盈
中国科学院 宁波材料技术与工程研究所, 浙江省机器人与智能制造装备技术重点实验室, 浙江 宁波 315201
Design and realization of powered caster wheel for omnidirectional mobile robot
WANG Wei-jun, YANG Gui-lin, ZHANG Chi, CHEN Qing-ying
Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology of Zhejiang Province, Ningbo Institute of Material and Engineering Technology, Chinese Academy of Science, Ningbo 315201, China
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摘要：

全向移动机器人使用无解耦机构的驱动万向轮在转向时会派生出额外的滚轮滚动输出，这会导致运动的不稳定以及增加控制算法复杂性.为了解决驱动万向轮转向运动与驱动运动之间的耦合问题，通过在驱动万向轮内加入差速行星齿轮机构，合理地设置该行星齿轮组的输出传动比，可以将转向时的派生滚动输出从转向运动中解耦，实现了对机器人运动的精确控制，提高了机器人运动平稳性.最后通过对机器人进行运动学分析，得到了输入转速与机器人运动速度之间的关系，验证了机器人的全向移动功能，并为机器人运动控制提供了依据.
关键词： 全向移动机器人;  差速行星齿轮;  运动学分析;  解耦;  驱动万向轮    
Abstract:

The powered caster wheel without special decoupled mechanism that is used by the omnidirectional mobile robot can produce an extra rolling motion output of the wheel when it is making the wheel turn. It is due to the motion couple between the steering motion and driving motion. This phenomenon can lead to the motion instability and increase the complexity of the robot's motion control algorithm, which is not beneficial to the mobile robot's practical application and maneuverability. In order to solve the powered caster wheel's motion couple problem between the steering motion and driving motion, a differential planet gear was mounted between the steering transmission system and driving transmission system. By setting reasonable output transmission ratio and right motion orientation of the differential planet gear, the extra rolling motion could be decoupled from the steering motion, which could make a great contribution to the stability of the robot's motion and accurate motion control. Finally, the kinematics of the robot had been analyzed, from which the relationship of the input motor speed and the robot's velocity could be obtained. Through utilizing, the result of kinematics analyzing the robot's ability of the omnidirectional mobility can be testified and the foundation of the robot's motion control can be provided.
Key words: omnidirectional mobile robot    differential planet gear    kinematics analysis    decouple    powered caster wheel
收稿日期: 2016-01-07 出版日期: 2016-12-28
CLC:  TP242.6  
基金资助:

NSFC-浙江两化融合联合基金资助项目（U1509202）.
作者简介: 王慰军(1981-),男,浙江宁波人,工程师,硕士,从事机器人技术及自动化装备研究,E-mail:1473315071@qq.com.http://orcid.org//0000-0001-9524-5649
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引用本文:

王慰军, 杨桂林, 张驰, 陈庆盈. 全向移动机器人驱动万向轮的设计与实现[J]. 工程设计学报, 2016, 23(6): 633-638.

WANG Wei-jun, YANG Gui-lin, ZHANG Chi, CHEN Qing-ying. Design and realization of powered caster wheel for omnidirectional mobile robot. Chinese Journal of Engineering Design, 2016, 23(6): 633-638.

链接本文:

https://www.zjujournals.com/gcsjxb/CN/10.3785/j.issn.1006-754X.2016.06.017    或    https://www.zjujournals.com/gcsjxb/CN/Y2016/V23/I6/633

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