直进轮系机器人行走机构的设计.docVIP

直进轮式机器人行走机构的设计 摘要 随着由固定人工环境走向非人工环境。With robotics in extraterrestrial exploration, field trips , military, security and other new areas to be increasingly widespread adoption of robotics from the indoor to outdoor , fixed , moving toward the artificial environment , not artificial environment. Mobile robots have become an important branch of robotics research. In many occasions, military, dangerous operation and the service has been applied , you need to receive real-time robot control commands wirelessly to the desired speed, direction and trajectory flexible and comfortable to move . Because of wheeled robot mechanism which is simple, flexible features activities particularly favored. The mobile features can be divided into non- mobile robot round and round two kinds. The type of wheel movement mechanism is also a lot for the average wheeled mobile mechanism can not be arbitrary location and orientation, and a full range of moving agencies can use the wheel has the positioning and orientation function , can be realized in a two-dimensional plane the movement from its current location in any direction without the need to change the attitude of the body , in some cases there are obvious advantages ; such as when a narrow or crowded places of work , full moving mechanism for its zero turning radius and flexibility free to walk through. In addition, many require precise positioning and high accuracy trajectory tracking time, full- movement mechanism can position their minor adjustments . As the round wheel moving mechanism has a unique characteristic of the general wheeled mobile mechanism can not be replaced , for the study of mobile robot to walk in an important sense, become the development trendof the robot moving bodies. In this paper, a multi-purpose mobile robot as research object, and combine robotics development in our country , to further raise the current number of functions and the need to further meet the needs of performance indicators, designed a new