| 通用零部件设计 |
|
|
|
|
| 全向移动机器人驱动轮同步转向机构设计 |
| 阴贺生1,2, 张秋菊1,2, 宁萌1,2 |
1. 江南大学 机械工程学院, 江苏 无锡 214122;
2. 江苏省食品先进制造装备技术重点实验室, 江苏 无锡 214122 |
|
| Design of synchronous steering mechanism of driving wheel for omnidirectional mobile robot |
| YIN He-sheng1,2, ZHANG Qiu-ju1,2, NING Meng1,2 |
1. School of Mechanical Engineering, Jiangnan University, Wuxi 214122, China;
2. Jiangsu Key Laboratory of Advanced Food Manufacturing Equipment and Technology, Wuxi 214122, China |
| [1] BRUZZONE L, QUAGLIA G. Review article:locomotion systems for ground mobile robots in unstructured environments[J].Mechanical Sciences, 2012, 3(2):49-62.
[2] CONDURARU A, DOROFTEI I, CONDURARU I. An overview on the design of mobile robots with hybrid locomotion[J]. Advanced Materials Research, 2013, 837(3):555-560.
[3] 李智卿,马书根,李斌,等.具有自适应能力轮-履复合变形移动机器人的开发[J].机械工程学报,2011,47(5):1-10. LI Zhi-qing, MA Shu-gen, LI Bin, et al. Development of a transformable wheel-track robot with self-adaptive ability[J]. Journal of Mechanical Engineering, 2011, 47(5):1-10.
[4] 李允旺,葛世荣,朱华,等.四履带双摆臂机器人越障机理及越障能力[J].机器人,2010,32(2):157-165. LI Yun-wang, GE Shi-rong, ZHU Hua, et al. Obstacle-surmounting mechanism and capability of four-track robot with two swing arms[J]. Robot, 2010, 32(2):157-165.
[5] GHOTBI Bahareh,GONZÁLEZB Francisco, KÖVECSES József, et al. Mobility evaluation of wheeled robots on soft terrain:effect of internal force distribution[J]. Mechanism and Machine Theory, 2016, 256(3):259-282.
[6] CHAN Ronald Ping Man, STOL Karl A, HALKYARD C Roger, et al. Review of modelling and control of two-wheeled robots[J]. Annual Reviews in Control, 2013, 37(1):89-103.
[7] 黄涛,张豫南,田鹏,等.一种履带式全方位移动平台的设计与运动学分析[J].机械工程学报,2014,50(21):206-212. HUANG Tao, ZHANG Yu-nan, TIAN Peng, et al. Design & kinematics analysis of a tracked omnidirectional mobile platform[J]. Journal of Mechanical Engineering, 2014, 50(21):206-212.
[8] 熊光明,龚建伟,徐正飞,等.轮式移动机器人滑动转向研究综述[J].机床与液压,2003(6):9-12. XIONG Guang-ming, GONG Jian-wei, XU Zheng-fei, et al. Overview of research on skid-steer wheeled mobile robot[J]. Machine Tool & Hydraulics, 2003(6):9-12.
[9] RATNER Danny, MCKERROW Phillip.Navigating an outdoor robot along continuous landmarks with ultrasonic sensing[J]. Robotics and Autonomous Systems, 2003, 45(2):73-82.
[10] MIYATAH, OHKI M, YOKOUCHI Y, et al. Control of the autonomous mobile robot DREAM-1 for a parallel parking[J]. Mathematics and Computers in Simulation, 1996, 41(1/2):129-138.
[11] MAALOUF E, SAAD M, SALIAH H, et al. A higher level path tracking controller for a four-wheel differentially steered mobile robot[J]. Robotics and Autonomous Systems, 2006, 54(1):23-33.
[12] DUMITRASCU B, FILIPESCU A, RADASCHIN A, et al. Discrete-time sliding mode control of wheeled mobile robots[C]//20118th Asian Control Conference (ASCC),Taiwan, May 15-18, 2011.
[13] 王一治,常德功.Mecanum四轮全方位系统的运动性能分析及结构形式优选[J].机械工程学报,2009,56(5):307-310. WANG Yi-zhi, CHANG De-gong. Motion perf-romance analysis and layout selection for motion system with four Mecanum wheels[J]. Journal of Mechanical Engineering, 2009, 56(5):307-310.
[14] 熊有伦.机器人技术基础[M].武汉:华中科技大学出版社,1996:91-113. XIONG You-lun. Fundamentals of robots techniques[M]. Wuhan:Huazhong University of Science and Technology Press, 1996:91-113.
[15] 哈尔滨工业大学理论力学教研室.理论力学[M].北京:高等教育出版社,2009:113-125. Department of Theoretical Mechanics, Harbin Institute of Technology. Theoretical mechanics[M]. Beijing:Higher Education Press, 2009:113-125.
[16] TROYANOVSKAYA I P, POZIN B M. Forces of friction at the wheel-to-ground contact in a turning vehicle[J]. Procedia Engineering, 2015, 129(8):156-160.
[17] RAZAK A A A, ABDULLAH A H, KAMARUDIN K, et al. Mobile robot structure design, modeling and simulation for confined space application[C]//20162nd IEEE International Symposium on Robotics and Manufacturing Automation (ROMA), Ipoh, Sep. 25-27, 2016. |
|
Viewed |
|
|
|
Full text
|
|
|
|
|
Abstract
|
|
|
|
|
Cited |
|
|
|
|
| |
Shared |
|
|
|
|
| |
Discussed |
|
|
|
|
