单排连续切换全向轮移动机器人的布局方式与运动的稳定性分析

研讨了一种单排的连续切换全向轮及其全方位移动机器人的全向轮布局选择与运动时的稳定性问题，提出了一种单排的连续切换全向轮的结构，并基于此结构建立了移动机器人系统的运动学模型，通过解析系统速度逆雅可比矩阵的秩，得到了系统实现全方位运动的条件，分析给出了实现全方位运动所需的三轮、四轮的布局方式。同时，根据非完整系统的劳斯方程，建立了全向轮机器人的动力学方程，计算了车体在斜坡上运动时不发生后翻和侧翻的条件，并用ADAMS软件进行仿真验证了模型。研究为此类系统的设计和控制提供了理论基础。

Layout Selection and Stability Analysis of a Mobile Robot Based on Single Row Alternate Wheel

This paper introduced layout selection and stability analysis of a mobile robot based on the single row alternate wheel. The structure of a single row alternate wheel was presented, the kinematic model was established, the conditions of the system moving in omni-direction through analyzing the system speed inverse Jacobi rank of matrix were achieved, and the arrangement of the three and four wheels which satisfied the conditions was given. Dynamics equations of the system were obtained according to the nonholonomic system of Rolls equations. The rollover and backward conditions of the system moving on the slope were calculated, and the model was simulated by using ADAMS software. This paper provides theoretical basis for system practical applications.