An omnidirectional mobile robot

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	An omnidirectional mobile robot
	Ye ZL(叶长龙); Ma SG(马书根); Hui L(回丽)
刊名	SCIENCE CHINA-INFORMATION SCIENCES
	2011
卷号	54 期号:12 页码:2631-2638
关键词	omnidirectional mobile robot mechanism design kinematics
ISSN号	1674-733X
产权排序	1
中文摘要	A novel omnidirectional wheeled mobile robot, mainly composed of three special wheeled structures-MY wheel, is developed in this paper. Based on the movement principle of sphere, the sphere of the special wheel is divided into contact part and non-contact part. The function of the omnidirectional wheel is realized utilizing the mutual complementarities of the two parts of the sphere. The passive rotational axes of two parts of the sphere are in staggered arrangement to each other at an angle of 45 degrees to realize continuous contact with the ground. At the same time, this structure also improves the strength of omnidirectional wheel. It is verified by the kinematic analysis and simulation of the wheeled mobile mechanism that the mechanism can achieve the omnidirectional movement. It is also proved by the movement experiment of the mobile robot that the omnidirectional mechanism can not only achieve the omnidirectional movements but also step over obstacles.
WOS标题词	Science & Technology ; Technology
类目[WOS]	Computer Science, Information Systems
研究领域[WOS]	Computer Science
关键词[WOS]	DESIGN
收录类别	SCI
资助信息	Educational Office of Liaoning Province[2008553]; National High-Tech Research & Development Program of China[2007AA041703]
语种	英语
WOS记录号	WOS:000297709400017
公开日期	2012-05-29
内容类型	期刊论文
源URL	[http://ir.sia.cn/handle/173321/7309]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	Ye ZL,Ma SG,Hui L. An omnidirectional mobile robot[J]. SCIENCE CHINA-INFORMATION SCIENCES,2011,54(12):2631-2638.
APA	Ye ZL,Ma SG,&Hui L.(2011).An omnidirectional mobile robot.SCIENCE CHINA-INFORMATION SCIENCES,54(12),2631-2638.
MLA	Ye ZL,et al."An omnidirectional mobile robot".SCIENCE CHINA-INFORMATION SCIENCES 54.12(2011):2631-2638.