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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >A Novel Omnidirectional Mobile Robot With Wheels Connected by Passive Sliding Joints
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A Novel Omnidirectional Mobile Robot With Wheels Connected by Passive Sliding Joints

机译：一种通过被动滑动关节连接车轮的新型全向移动机器人

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摘要

Mobile robots for automatically transporting products in factories and warehouses contribute to an increase in efficiency. Omnidirectional mobile robots can move immediately in an arbitrary direction and overcome the disadvantages of lack of mobility in conventional mobile robots. However, the omnidirectional mobile robots proposed in the past have not been as reliable as the conventional mobile robots, such as automated guided vehicles (AGVs) due to their complicated wheel mechanisms. This paper proposes a novel omnidirectional mobile robot named slidable-wheeled omnidirectional mobile robot (SWOM), which has three wheels that connect to the robot body by three passive sliding joints. The relative movements of the sliding joints allow SWOM to use conventional wheels. Thus, SWOM realizes both omnidirectional mobility and structural reliability. In this paper, we discuss the kinematic conditions for omnidirectional mobile robots and prove theoretically that SWOM can achieve omnidirectional movement. We present a kinematic analysis, a reachable region evaluation considering the limited movable range of the sliding joints, and trajectory generation that enables SWOM to move unlimitedly. We develop a prototype of SWOM and conduct experiments that show SWOM actually moves according to the theory. From above, we verify the effectiveness of SWOM as an omnidirectional mobile robot.
机译：用于在工厂和仓库中自动运输产品的移动机器人有助于提高效率。全向移动机器人可以立即向任意方向移动，并克服了常规移动机器人中缺乏移动性的缺点。但是，过去提出的全向移动机器人由于其复杂的轮机构而没有传统的移动机器人可靠，例如自动导引车（AGV）。本文提出了一种新颖的全向移动机器人，称为可滑动轮式全向移动机器人（SWOM），它具有三个通过三个被动滑动关节连接到机器人主体的轮子。滑动关节的相对运动使SWOM可以使用常规车轮。因此，SWOM同时实现了全方位移动性和结构可靠性。在本文中，我们讨论了全方位移动机器人的运动学条件，并在理论上证明了SWOM可以实现全方位运动。我们提出了运动学分析，考虑到滑动关节可移动范围有限的可达区域评估，以及使SWOM能够无限移动的轨迹生成。我们开发了SWOM的原型，并进行了实验，证明SWOM实际上根据理论进行了移动。从上面，我们验证了SWOM作为全向移动机器人的有效性。

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  • 来源
    《Mechatronics, IEEE/ASME Transactions on》 |2018年第4期|1716-1727|共12页
  • 作者

    Tatsuro Terakawa; Masaharu Komori; Kippei Matsuda; Shinji Mikami;

  • 作者单位

    Department of Mechanical Engineering and Science, Kyoto University Graduate School of Engineering, Kyoto, Japan;

    Department of Mechanical Engineering and Science, Kyoto University Graduate School of Engineering, Kyoto, Japan;

    Department of Mechanical Engineering and Science, Kyoto University Graduate School of Engineering, Kyoto, Japan;

    Department of Mechanical Engineering and Science, Kyoto University Graduate School of Engineering, Kyoto, Japan;

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  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
  • 关键词

    Wheels; Mobile robots; Kinematics; Axles; Rails; Reliability;

    机译：车轮;移动机器人;运动学;轴;导轨;可靠性;

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