Research on Design and Motion Control of Pure Rolling Wheel Mobile Robots
Aiming at the side slip problem of the wheeled mobile robot in the steering process， a pure rolling steering system is designed to avoid tire wear caused by wheel side slip. Based on this pure rolling steering system， a dual-power differential drive axle is developed， three special motion modes incl...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2022-08-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2022.08.014 |
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| _version_ | 1850147048331935744 |
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| author | Peng Wang Jianjun Nie Xiaolin Xie Hongzhen Yan |
| author_facet | Peng Wang Jianjun Nie Xiaolin Xie Hongzhen Yan |
| author_sort | Peng Wang |
| collection | DOAJ |
| description | Aiming at the side slip problem of the wheeled mobile robot in the steering process， a pure rolling steering system is designed to avoid tire wear caused by wheel side slip. Based on this pure rolling steering system， a dual-power differential drive axle is developed， three special motion modes including ackerman steering， crab motion and in-situ steering are established， and the kinematic characteristics of the three modes are analyzed. The adopted H-type balance suspension structure can be adjusted adaptively according to the undulations of the road surface， which improves the mobile robot's ability to overcome obstacles. The feasibility of the structure is tested by setting up an experimental platform. Finally， based on the established steering motion control strategy and the kinematics model， and using the inversion method， the trajectory tracking control law is derived， and the effectiveness of the control law is verified by Simuink simulation. |
| format | Article |
| id | doaj-art-9d5cf516088b42fb85202d618ada12a1 |
| institution | OA Journals |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2022-08-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-9d5cf516088b42fb85202d618ada12a12025-08-20T02:27:41ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392022-08-0146859230485870Research on Design and Motion Control of Pure Rolling Wheel Mobile RobotsPeng WangJianjun NieXiaolin XieHongzhen YanAiming at the side slip problem of the wheeled mobile robot in the steering process， a pure rolling steering system is designed to avoid tire wear caused by wheel side slip. Based on this pure rolling steering system， a dual-power differential drive axle is developed， three special motion modes including ackerman steering， crab motion and in-situ steering are established， and the kinematic characteristics of the three modes are analyzed. The adopted H-type balance suspension structure can be adjusted adaptively according to the undulations of the road surface， which improves the mobile robot's ability to overcome obstacles. The feasibility of the structure is tested by setting up an experimental platform. Finally， based on the established steering motion control strategy and the kinematics model， and using the inversion method， the trajectory tracking control law is derived， and the effectiveness of the control law is verified by Simuink simulation.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2022.08.014Pure rollingDual-power drive axleOmni-directional movementTrajectory tracking |
| spellingShingle | Peng Wang Jianjun Nie Xiaolin Xie Hongzhen Yan Research on Design and Motion Control of Pure Rolling Wheel Mobile Robots Jixie chuandong Pure rolling Dual-power drive axle Omni-directional movement Trajectory tracking |
| title | Research on Design and Motion Control of Pure Rolling Wheel Mobile Robots |
| title_full | Research on Design and Motion Control of Pure Rolling Wheel Mobile Robots |
| title_fullStr | Research on Design and Motion Control of Pure Rolling Wheel Mobile Robots |
| title_full_unstemmed | Research on Design and Motion Control of Pure Rolling Wheel Mobile Robots |
| title_short | Research on Design and Motion Control of Pure Rolling Wheel Mobile Robots |
| title_sort | research on design and motion control of pure rolling wheel mobile robots |
| topic | Pure rolling Dual-power drive axle Omni-directional movement Trajectory tracking |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2022.08.014 |
| work_keys_str_mv | AT pengwang researchondesignandmotioncontrolofpurerollingwheelmobilerobots AT jianjunnie researchondesignandmotioncontrolofpurerollingwheelmobilerobots AT xiaolinxie researchondesignandmotioncontrolofpurerollingwheelmobilerobots AT hongzhenyan researchondesignandmotioncontrolofpurerollingwheelmobilerobots |