AxeBot机器人：全方位自主移动机器人的机械设计外文翻译.docVIP

AxeBot Robot: The Mechanical Design for an Autonomous Omni directional Mobile Robot Tiago P. do Nascimento, Augusto Loureiro da Costa, Cristiane Correa Paim Post-graduation Program in Electrical Engineering Universidade Federal da Bahia Salvador, Bahia, Brasil tiagopn@, augusto.loureiro@ufba.br, cpaim@ufba.br Abstract The AxeBot robot’s mechanical design, a fully autonomous mobile robot, for the RoboCup Small Size League, is presented in this paper. The AxeBot robot uses three omnidirectional wheels for movement and is equipped by a shooting device for shooting the ball in different directions. Once the AxeBot robot is a fully autonomous mobile robot all the sensors, engines, servos, batteries, and the computer system, must be embedded on. The project can be separated in four different parts: the chassis design, the wheel design, the shooting device design and the overall assembly which makes a shell design possible to cover the whole robot. The AxeBot mechanical design brings up a new chassis concept for three wheels omnidirectional robot, also present a new shooting device, and finally present AxeBots prototype assembly. 1. Introduction The RoboCup Initiative is an international research group whose aims are to promote the fields of Robotics and Artificial Intelligence. A standard challenge, a soccer match performed by autonomous robot teams, was proposed in 1996 [1]. Initially with three different leagues 2D: Robot Soccer Simulation league, Small Size Robot league, and Middle Size Robot league. Nowadays these leagues have been increased up to: Four-Legged League, Humanoid League, Middle Size League, RoboCup Junior Soccer, Small Size League, Soccer Simulation, Standard Robot League. Also, another challenge, the RoboCup Rescue was proposed in 1999 to show that the result from the robot soccer research could be directly applied on a real world problem like a disaster rescue made by robots. Through the integration of technology and advanced compu