Development of an Omnidirectional Mobile Platform
文献类型：会议论文
| 作者 | Ye ZL(叶长龙); Ma SG(马书根)
|
| 出版日期 | 2009 |
| 会议名称 | IEEE International Conference on Mechatronics and Automation |
| 会议日期 | August 9-12, 2009 |
| 会议地点 | Changchum, China |
| 关键词 | omnidirectional robot mechanism design kinematics sliced ball structure |
| 页码 | 1111-1115 |
| 中文摘要 | A novel omnidirectional wheeled mechanism, named as MY wheel, is developed based on the sliced ball structure in this paper. With mutual passive motion of two sliced balls on the same one active axis, an omnidirectional motion can be achieved. The passive rotational axes of two sliced balls are inclined with 45 degree in two parallel planes, which are perpendicular to the active axis, to realize continuous contact with the ground. This wheeled mechanism also improves the wheel intensity to carry a heavy burden, which is a key problem for omnidirectional mechanism. An omnidirectional mobile platform composed of three MY wheels is developed for validating MY wheel mechanism. Kinematic analyses are presented to verify the omnidirectional movement of this platform. Experimental results show the validity of this platform. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议主办者 | IEEE, IEEE Robot & Automat Soc, Changsha Univ Scie & Technol, Kagawa Univ, Natl Nat Sci Fdn China, Chinese Assoc Automat, Robot Soc Japan, Japan Soc Mech Engn, Japan Soc Precis Engn, Soc Instrument & Control Engineers, Harbin Engn Univ, Univ Elect Commun, Univ Elect Sci & Technol China, Beijing Univ Technol, Jilin Univ, Kagoshima Univ, Harbin Inst Technol, Assoc Young Sci &Technol |
| 会议录 | 2009 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS 1-7, CONFERENCE PROCEEDINGS
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | NEW YORK |
| 语种 | 英语 |
| ISBN号 | 978-1-4244-2692-8 |
| WOS记录号 | WOS:000280158100202 |
| 源URL | [http://ir.sia.cn/handle/173321/8666]  |
| 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. Development of an Omnidirectional Mobile Platform[C]. 见:IEEE International Conference on Mechatronics and Automation. Changchum, China. August 9-12, 2009. |
入库方式： OAI收割
来源：沈阳自动化研究所
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