关键词: 主动万向脚轮；运动解耦设计；全向移动机器人, 运动分析

Abstract:

A novel decoupled powered caster wheel was designed herein, so that the wheel's steering and rolling motions could be independently controlled. Based on the new wheel design, an omnidirectional mobile robot was developed for indoor applications. Kinematic model of this robot was formulated and verified through the computer by MATLAB. Simulation results show that the omnidirectional mobile robot is able to perform the side-way and spinning motions.

Key words: powered caster wheel, decoupled design, omnidirectional mobile platform, kinematic analysis