In this paper, the turning radius of a four-wheel omnidirectional mobile robot is studied. Based on the dynamics modeling and kinematics analysis of a four-wheel mobile robot, the turning radius of a four-wheel omni-directional mobile robot is obtained. The dynamic equation of the turning radius of four-wheel omnidirectional mobile robot is obtained, which provides a theoretical basis for further research on the maneuverability of four-wheel omni-directional mobile robot.%本文研究四轮全向移动机器人的转弯半径,通过对四轮移动机器人动力学建模和运动学分析,得出四轮全向移动机器人转弯半径的动力学方程,并根据四轮全向移动机器人的运动特性对未知量求解,从而得到四轮全向移动机器人转弯半径的动态方程,为进一步研究四轮全向移动机器人的机动性提供了理论基础.
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