八轮全向移动平台的控制系统设计

针对目前国内工业应用中提出的八Mecanum轮全向移动平台的构想,提出其控制系统的设计与实现方案.研究通过八轮全向移动平台的原理分析,提出总体设计方案,以STM32单片机为控制核心,通过接收遥控信号协同驱动8个Mecanum轮,实现移动平台的全向移动以及零转弯半径转动.详述了控制系统软硬件的模块化设计,并在此基础上研制了样机.通过实验验证了控制系统设计的可行性,对于推进国内全向移动平台的工业化应用具有一定的意义.

Control System of Omni-directional Mobile Platform with Eight Mecanum Wheels

Aiming at the problem of 8 mecanum wheels fully mobile platform conception in current domestic industrial application ,the de-sign and implementation of the control system are presented .Based on the principle analysis of eight wheels of total moving platform ,the overall design scheme is proposed .The system takes STM32 MCU as the control core ,the eight Mecanum wheels are driven together to realize the total movement of the mobile platform and the rotation of the zero turning radius by receiving the remote signal .The modular design of hardware and software of the control system are introduced and the prototype is developed .The feasibility of the control system design is verified by the experiment ,which has great significance to the industrialization application of the whole mobile platform in China .