两轮驱动移动机器人的运动学研究

A Study on Kinematics of Two Driving Wheel Robot

中文关键词: 移动机器人  运动学模型  机械结构  齿轮传动

英文关键词: mobile robot  kinematic model  mechanical structure  gear-driven

中文摘要:

      给出了自行设计的(2,0)型轮式移动机器人的机械结构, 建立了机器人小车的运动学数学模型。在此基础上, 详细分析了移动机器人小车的基本运动形式, 即直线运动、圆弧运动的实现方式, 深入探讨小车圆弧运动的最小半径问题。针对机器人小车机械结构的齿轮传动, 讨论对小车运动精度的影响, 并提出提高小车运动精度的措施。

英文摘要:

      In this paper,the mechanical structure of(2,0) type wheeled mobile robot designed by our university is introduced,and the mathematical model of robot kinematics is established.Based on it,the basic motion modes of mobile robot such as line motion and arc motion and implementation methods are analyzed in detail.The problem of the robot′s minimum motion radius in arc motion mode is deeply discussed.The influence on motion precision by the gear-driven robot is discussed also,and measures to be taken are suggested to improve the motion precision of the robot.