全向移动小车本科毕业论文.doc

本科毕业设计·论文 PAGE PAGE IV 摘 要 作为移动小车而开发的移动机构种类已相当繁多，仅就地面移动而言，移动机构就有车轮式、履带式、腿脚式、躯干式等多种形式，适应了各种工作环境的不同要求。 全向移动小车的全方位轮具有平面内三个自由度，可同时独立的前后、左右和原地旋转运动，可在不改变自身位姿的情况下向任意方向移动。借助于横向移动和原地回旋的特性，全方位运动平台还可方便的穿梭于狭窄拥挤空间中，灵活完成各种任务，相比传统移动平台有明显优势。 本综述论文首先分析了全向移动小车在国内外的研究简史与应用现状；对现使用较为广泛的全向轮进行综述对比；重点对当前主流轮式全向移动小车按照其机械结构、硬件模块、软件分析进行分类整理，总结论述了全向移动小车的三种控制方式；最后对全文进行归纳总结，展望了轮式全向移动小车的发展方向。 本综述论文在借鉴国内外的研究成果上，较为完善的总结了全向移动小车体系结构，为以后深入研究轮式全向移动平台的广泛应用提供理论参考依据。 关键字：麦克纳姆轮；全方位移动小车；车底安全检查 Review of wheeled omni-directional mobile vehicle architecture Student：CHEN Feng-jun Teacher：XU Jian-yu Abstract：As the development of moving mobile car types of institutions has been quite extensive, only the ground moving, the moving mechanism had wheels, crawler, legs, torso and so on, adapted to the different requirements of various work environments. Moved car full omni-directional wheel having a plane of the three degrees of freedom, which can separate front, left, and rotational movement in situ, can be made without changing their posture in the case move in any direction. In situ by means of maneuver and lateral movement characteristics, full-motion platform can be easily shuttle in the narrow, flexible, complete a variety of tasks, compared to traditional mobile platform has obvious advantages. This review analyzes the omni-directional mobile car at home and abroad Brief History of Research and Application Status; right now the more widely used omni-directional wheel summarized comparison; focusing on the current mainstream wheeled omni-directional mobile car according to its mechanical structure, hardware modules , software analysis carry out classify collate, summarize discusses the omni-directional mobile trolley's three kinds control mode; Finally pairs of full-text carry on summarized, prospected wheeled omni-directional mobile car direction of development. This review paper drawing on the research results at home and abroad, the more perfect summary of the whole architecture of the mobile car for f