AGV 差速驱动原理.pdf

Differential Drive Vehicle N-CART Constructing a Differential Drive Mobile Robot from Simple Components Network-Centric Applied Research Team School of Computer Science Ryerson University Introduction One of the most difficult problems associated with construction mobile robots is starting. This document is designed to give you a quick introduction into the theory behind a differential drive mobile robot followed by a description of how such a robot can be built from commonly available components. Differential Drive Theory One meaning of differential is simply proceeding at different rates. Keeping this in mind, a differential drive is one where the drive--or movement--components of the vehicle move at different rates. For example, the diagram below illustrates a very simple differential drive vehicle. Glide Wheel Wheel Motor Motor Figure 1 Simple Differential Drive Each wheel is connected to its own motor. A glide or unpowered castor wheel provides balance at one end of the vehicle. If both motors spin at the same rate and all components are identical then the vehicle will move in a straight line. If one wheel spins faster than the other does, the vehicle will have a tendency to turn in the direction opposite to the fast wheel. If each wheel spins in the opposite direction of the other, the vehicle will turn in place. This form of steering is commonly found on tracked vehicles such as tractors and tanks. The drive has the advantage of simplicity and a very tight turning radius. Page 1 of 5 Differential Drive Vehicl