An omnidirectional mobile robot
文献类型：期刊论文
| 作者 | Ye ZL(叶长龙); Ma SG(马书根) ; Hui L(回丽)
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| 刊名 | SCIENCE CHINA-INFORMATION SCIENCES
 |
| 出版日期 | 2011 |
| 卷号 | 54期号:12页码:2631-2638 |
| 关键词 | omnidirectional mobile robot mechanism design kinematics |
| ISSN号 | 1674-733X |
| 产权排序 | 1 |
| 中文摘要 | A novel omnidirectional wheeled mobile robot, mainly composed of three special wheeled structures-MY wheel, is developed in this paper. Based on the movement principle of sphere, the sphere of the special wheel is divided into contact part and non-contact part. The function of the omnidirectional wheel is realized utilizing the mutual complementarities of the two parts of the sphere. The passive rotational axes of two parts of the sphere are in staggered arrangement to each other at an angle of 45 degrees to realize continuous contact with the ground. At the same time, this structure also improves the strength of omnidirectional wheel. It is verified by the kinematic analysis and simulation of the wheeled mobile mechanism that the mechanism can achieve the omnidirectional movement. It is also proved by the movement experiment of the mobile robot that the omnidirectional mechanism can not only achieve the omnidirectional movements but also step over obstacles. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Computer Science, Information Systems |
| 研究领域[WOS] | Computer Science |
| 关键词[WOS] | DESIGN |
| 收录类别 | SCI |
| 资助信息 | Educational Office of Liaoning Province[2008553]; National High-Tech Research & Development Program of China[2007AA041703] |
| 语种 | 英语 |
| WOS记录号 | WOS:000297709400017 |
| 公开日期 | 2012-05-29 |
| 源URL | [http://ir.sia.cn/handle/173321/7309]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Ye ZL,Ma SG,Hui L. An omnidirectional mobile robot[J]. SCIENCE CHINA-INFORMATION SCIENCES,2011,54(12):2631-2638. |
| APA | Ye ZL,Ma SG,&Hui L.(2011).An omnidirectional mobile robot.SCIENCE CHINA-INFORMATION SCIENCES,54(12),2631-2638. |
| MLA | Ye ZL,et al."An omnidirectional mobile robot".SCIENCE CHINA-INFORMATION SCIENCES 54.12(2011):2631-2638. |
入库方式： OAI收割
来源：沈阳自动化研究所
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