关键词: 四轮驱动移动机器人, 全轮差速转向, 运动学模型, 数值仿真

Abstract: In order to raise the stabilization,load capacity of mobile welding robots and to reduce the control complexity,a four wheel drive all wheel differential steering mobile welding robot mechanism was proposed.The differential steering principles of this mechanism were introduced and  proved this mechanism had no sideslip.The differential steering deviation model was built with nonholonomic constraint method.Based on this model,a numerical simulation analysis of straight-arc-straight trajectory was presented.As results,the rotation angle deviation is as 0.002 137° and the deviation of rotation center is under 0.012mm.The simulation results indicate that the model satisfies the position accuracy requirements.

Key words: four wheel drive mobile robot, all wheel differential steering, kinematic model, numerical simulation