Design of A Novel Robot with Omni-directional Mobile and Obstacle-crossing Function
An innovative robot is designed. It can move in omni-direction on flat floor with three degrees of freedom in plane,and is also able to passively overcome obstacles of up to 4 times of its wheel radius within the 45 degree slope range. By using rectangle configuration,the four Mecanum motorized whee...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2016-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2016.06.013 |
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| author | 臧红彬 许雄 周颖玥 陶俊杰 蔡勇 赵登峰 沈连婠 |
| author_facet | 臧红彬 许雄 周颖玥 陶俊杰 蔡勇 赵登峰 沈连婠 |
| author_sort | 臧红彬 |
| collection | DOAJ |
| description | An innovative robot is designed. It can move in omni-direction on flat floor with three degrees of freedom in plane,and is also able to passively overcome obstacles of up to 4 times of its wheel radius within the 45 degree slope range. By using rectangle configuration,the four Mecanum motorized wheels is arranged on a climbing structure on each side which is consisted by double cranks and spring coupling. In order to find the conditions of the system with four Mecanum wheels to move in omni-direction,the motion model of the general system is put forward and the inverse velocity Jacobian matrix is analyzed. Then six typical layouts of four Mecanum wheels are illustrated and the optimal layout is picked out by calculating the Jacobian matrix rank of the six typical layouts. The kinematic model of the climbing structure is built and its parameters are optimized. Finally,the functions of the robot system including straight movement,lateral movement,zero turning radius and overcoming obstacles are simulated based on the virtual prototype technology. A well functioning prototype is designed and manufactured,and its performance is excellent. |
| format | Article |
| id | doaj-art-10dd02decfc3458485fc959dc22a768e |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2016-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-10dd02decfc3458485fc959dc22a768e2025-01-10T14:16:57ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392016-01-0140636929924174Design of A Novel Robot with Omni-directional Mobile and Obstacle-crossing Function臧红彬许雄周颖玥陶俊杰蔡勇赵登峰沈连婠An innovative robot is designed. It can move in omni-direction on flat floor with three degrees of freedom in plane,and is also able to passively overcome obstacles of up to 4 times of its wheel radius within the 45 degree slope range. By using rectangle configuration,the four Mecanum motorized wheels is arranged on a climbing structure on each side which is consisted by double cranks and spring coupling. In order to find the conditions of the system with four Mecanum wheels to move in omni-direction,the motion model of the general system is put forward and the inverse velocity Jacobian matrix is analyzed. Then six typical layouts of four Mecanum wheels are illustrated and the optimal layout is picked out by calculating the Jacobian matrix rank of the six typical layouts. The kinematic model of the climbing structure is built and its parameters are optimized. Finally,the functions of the robot system including straight movement,lateral movement,zero turning radius and overcoming obstacles are simulated based on the virtual prototype technology. A well functioning prototype is designed and manufactured,and its performance is excellent.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2016.06.013New robotOmni-directional MobileObstacle crossingPrototype |
| spellingShingle | 臧红彬 许雄 周颖玥 陶俊杰 蔡勇 赵登峰 沈连婠 Design of A Novel Robot with Omni-directional Mobile and Obstacle-crossing Function Jixie chuandong New robot Omni-directional Mobile Obstacle crossing Prototype |
| title | Design of A Novel Robot with Omni-directional Mobile and Obstacle-crossing Function |
| title_full | Design of A Novel Robot with Omni-directional Mobile and Obstacle-crossing Function |
| title_fullStr | Design of A Novel Robot with Omni-directional Mobile and Obstacle-crossing Function |
| title_full_unstemmed | Design of A Novel Robot with Omni-directional Mobile and Obstacle-crossing Function |
| title_short | Design of A Novel Robot with Omni-directional Mobile and Obstacle-crossing Function |
| title_sort | design of a novel robot with omni directional mobile and obstacle crossing function |
| topic | New robot Omni-directional Mobile Obstacle crossing Prototype |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2016.06.013 |
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