【摘要】 为了提高移动机器人的灵活性和机动性,人们提出了最大限度地利用普通常规轮的运动自由度来实现移动机器人的平面自由运动。当移动机器人具有n(n≥2)个可操舵驱动轮时,它可以实现平面上的自由运动,即它具有3个自由度。针对轮式移动机器人的运动学建模问题,基于坐标变换法,提出了一种解决具有可操舵轮的移动机器人运动学建模的通用方法,建立了在满足理想运动约束条件下的运动学模型,并以具有2个可操舵驱动轮的3自由度移动机器人为例,给出了运动学仿真结果。更多还原

【Abstract】 All kinds of new structural designs are proposed in order to improve the flexibility and maneuverability of the mobile robots,such as using traditional wheels to realize planer free motion to the full extent.The mobile robot with n((n≥ 2)) steerable and drivable wheels is a type of motion platform with 3 degrees of freedom,which can move on the planar surface following free-path.Based on the coordinate transformation,a general kinematic modeling method is presented in this paper,by which the kinematic model of mobile robots with steerable wheels is set up under the ideal motion constraint condition.Finally,the motion simulation of the mobile robot with two steerable and drivable wheels is given.更多还原