An omnidirectional mobile robot

作     者：YE ChangLong 1,2 , MA ShuGen 2,3 & HUI Li 1 1 School of Mechatronics Engineering, Shenyang Aerospace University, Shenyang 110136, China 2 State Robotics Laboratory, Shenyang Institute of Automation, Shenyang 110016, China 3 Department of Robotics, Ritsumeikan University, Kusatsu 525-8577, Japan 

作者机构：School of Mechatronics Engineering Shenyang Aerospace University Shenyang China State Robotics Laboratory Shenyang Institute of Automation Shenyang China Department of Robotics Ritsumeikan University Kusatsu Japan 

出 版 物：《Science China(Information Sciences)》 (中国科学:信息科学(英文版))

年 卷 期：2011年第54卷第12期

页      面：2651-2658页

核心收录：

学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 

基　　金：supported by Educational Office of Liaoning Province(Grant No.2008553) the National High-Tech Research & Deretopment Program of China(Grant No.2007AA041703) 

主　　题：omnidirectional mobile robot mechanism design kinematics 

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.