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工程设计学报
Chinese Journal of Engineering Design  2018, Vol. 25 Issue (2): 230-236    DOI: 10.3785/j.issn.1006-754X.2018.02.015
    
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
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Abstract  

Aiming at the problem of poor synchronous steering capability existing wheeled omnidirectional mobile robot in practical engineering applications,a synchronous steering structure of driving wheel is designed. Firstly, the working mechanism of the synchronous steering mechanism was analyzed based on virtual prototyping technology. Then, the kinematics analysis of the robot with the synchronous steering mechanism was carried out based on the kinematics principle and the relationship between the motor input speed and the steering speed of the driving wheel was obtained. Lastly, according to the structural parameters of the system, a physical prototype of the robot which was mainly used in the material handling of the factory was manufactured and verified by experiment. The results of lateral movement experiment of the robot showed that this robot can move in all directions through different ways, which verified the omnidirectional moving function of the robot. The research indicates that the application of synchronous steering mechanism can reduce the control difficulty of wheeled omnidirectional mobile robot and realize the omnidirectional mobile robot with high speed, high precision and high stability.

Key words： omnidirectional mobile robot      steering mechanism      kinematics analysis      gear drive      drive wheel     
Received: 06 June 2017      Published: 28 April 2018
CLC:  TP242.6  
  TH122  
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YIN He-sheng
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Cite this article:

YIN He-sheng, ZHANG Qiu-ju, NING Meng. Design of synchronous steering mechanism of driving wheel for omnidirectional mobile robot. Chinese Journal of Engineering Design, 2018, 25(2): 230-236.

URL:

https://www.zjujournals.com/gcsjxb/10.3785/j.issn.1006-754X.2018.02.015     OR     https://www.zjujournals.com/gcsjxb/Y2018/V25/I2/230


全向移动机器人驱动轮同步转向机构设计

针对现有轮式全向移动机器人在工程实际应用中存在的驱动轮同步转向能力差的问题，设计了驱动轮同步转向机构。首先，基于虚拟样机技术分析了该同步转向机构的工作原理，并将它应用于轮式全向移动机器人。然后，利用运动学原理对加入同步转向机构机器人进行运动学分析，得到了电机输入转速与驱动轮转向速度之间的关系。最后，根据系统结构参数研制了一款主要应用于工厂物料搬运工作的产品样机并进行实验验证。机器人横向移动实验结果表明，该机器人可以通过不同方式进行全向移动，验证了该机器人的全向移动功能。研究表明同步转向机构的应用降低了轮式全向移动机器人控制难度，实现了机器人高速、高精度、高稳定性全向移动。


关键词： 全向移动机器人,  转向机构,  运动学分析,  齿轮传动,  驱动轮 

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