基于辐条麦克纳姆轮的新型多运动移动机器人的设计、建模与控制

Design, Modeling, and Control of a New Multi-Motion Mobile Robot Based on Spoked Mecanum Wheels.

作者信息

Leng Jie, Mou Haiming, Tang Jun, Li Qingdu, Zhang Jianwei

机构信息

School of Optoelectronic Information and Computer Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China.

Department of Informatics, University of Hamburg, 20146 Hamburg, Germany.

出版信息

Biomimetics (Basel). 2023 Apr 28;8(2):183. doi: 10.3390/biomimetics8020183.

DOI:10.3390/biomimetics8020183

PMID:37218769

原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC10204521/

Abstract

This paper presents an exciting and meaningful design to make mobile robots capable of adapting to various terrains. We designed a relatively simple and novel composite motion mechanism called the flexible spoked mecanum (FSM) wheel and created a mobile robot, LZ-1, with multiple motion modes based on the FSM wheel. Based on the motion analysis of the FSM wheel, we designed an omnidirectional motion mode for this robot, allowing it to move flexibly in all directions and successfully traverse rugged terrains. In addition, we designed a crawl motion mode for this robot, which can climb stairs effectively. We used a multilayer control method to move the robot according to the designed motion modes. Multiple experiments showed that these two motion modes for the robot are effective on various terrains.

摘要

本文提出了一种令人兴奋且有意义的设计，以使移动机器人能够适应各种地形。我们设计了一种相对简单且新颖的复合运动机构，称为柔性辐条麦克纳姆（FSM）轮，并基于FSM轮创建了具有多种运动模式的移动机器人LZ-1。基于对FSM轮的运动分析，我们为该机器人设计了全向运动模式，使其能够在各个方向灵活移动并成功穿越崎岖地形。此外，我们为该机器人设计了爬行运动模式，它能够有效地爬楼梯。我们采用了多层控制方法，以使机器人按照设计的运动模式移动。多次实验表明，该机器人的这两种运动模式在各种地形上均有效。