全向移动机器人驱动轮同步转向机构设计.PDF

V ol N o Chinese Journal of Engineering Design A pr doi issn X j T P T H A X Design of synchronous steering mechanism of driving wheel for omnidirectional mobile robot Y IN Hesheng Z HA NG Qiuu NIN G M eng j School of M echanical Engineering Jiangnan U niversity Wuxi China Jiang su Key Laboratory of Advanced Food M anuf acturing Equipment and T echnology Wuxi China Abstract Aiming at the problem of poor sy nchronous steering capability existing w heeled o m nidi rectional mobile robot in practical engineering applications a sy nchronous steering structure of driving w heel is desig ned Firstly the w orking mechanism of the sy nchronous steering mechanism w as analyzed based on virtual prototy ping technology T hen the kinematics analy sis of the robot w ith the sy nchronous steering mechanism w as carried out based on the kinematics principle and the relationship betw een the motor input speed and the steering speed of the driving w heel w as obtained Lastly according to the structural parameters of the sy stem a phy sical pro toty pe of the robot w hich w as mainly used in the material handling of the f actory w as manuf ac tured and verified by ex periment T he result s of lateral movement ex periment of the robot show ed that this robot can move in all directions through diff erent w ay s w hich verified the o m ni directional moving f unction of the robot