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

摘要：

设计了一种具有运动解耦特性的新型主动万向脚轮，实现了脚轮的转向运动和滚动运动的无耦合独立控制。设计了基于解耦式主动万向脚轮的全向移动机器人，建立了其运动学模型，并通过MATLAB对全向移动机器人进行了运动学仿真。仿真结果表明：基于解耦式主动万向脚轮的全向移动机器人可以实现侧行和原地转向。

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