| 一种全方位移动机器人的系统设计 |
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| 引用本文： | 李明河,王伟,王健,王殿君,薛龙. 一种全方位移动机器人的系统设计[J]. 安徽工业大学学报, 2011, 0(1): 51-54 |
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| 作者姓名： | 李明河 王伟 王健 王殿君 薛龙 |
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| 作者单位： | 安徽工业大学电气信息学院;北京石油化工学院机械工程学院; |
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| 基金项目： | 国家863计划项目(2009AA04Z208,2007AA04Z255); 北京市教委科技发展计划资助项目(KM200710017005); 北京市属高等学校人才强教深化计划资助(PHR200907221,PHR201008355) |
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| 摘 要： | 针对机器人寻找场地黑色中心区域的任务要求,研制一种四轮驱动全方位移动机器人.依据机器人所需的驱动力,计算驱动电机的功率,并对电机进行选型,分析机器人的转向性能,设计基于ATmega128单片机的控制系统.机器人性能实验结果表明:设计的全方位移动机器人采用前、后轮逆相位转向时,运动稳定性较好,并能够准确地找到目标点.
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| 关 键 词： | 全方位移动机器人 控制系统 转向半径 |
Design of Omni-directional Mobile Robot System |
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| LI Ming-he,WANG Wei,WANG Jian,WANG Wei,WANG Dian-jun,XUE Long. Design of Omni-directional Mobile Robot System[J]. Journal of Anhui University of Technology, 2011, 0(1): 51-54 |
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| Authors: | LI Ming-he WANG Wei WANG Jian WANG Wei WANG Dian-jun XUE Long |
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| Affiliation: | LI Ming-he~1,WANG Wei~1,WANG Jian~1,WANG Wei~2,WANG Dian-jun~2,XUE Long~2 (1.School of Electrical Engineering & Information,Anhui University of Technology,Ma'anshan 243002,China,2.Mechanical Engineering Academy,Beijing Institute of Petro-chemical Technology.Beijing 102617,China) |
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| Abstract: | The omni-directional mobile robot possessed high flexibility and maneuver-ability,since it can run on the planar surface freely under the precondition of keeping the stance of the robot.Developed a kind of four-wheel-driving omni-directional mobile robot under the condition of finding the black central region of the platform by robot.Calculated the motor power according to the driving force required,selected the type of motor, analyzed the steering performance of robot,designed control system on base of ATm... |
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| Keywords: | omni-directional mobile robot control system turning radius |
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