Three-wheel omnidirectional moving robot platform

An omnidirectional mobile and robotic technology, applied in the field of three-wheeled omnidirectional mobile robot platform, can solve the problems of large turning radius and few degrees of freedom of the chassis, and achieve the effect of small turning radius, many degrees of freedom, and reduced complexity.

Inactive Publication Date: 2019-12-27
CHANGZHOU INST OF DALIAN UNIV OF TECH
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  • Abstract
  • Description
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Problems solved by technology

[0005] Considering the background technology, the purpose of the present invention is to design a three-wheeled omnidirectional mobile robot...

Method used

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  • Three-wheel omnidirectional moving robot platform
  • Three-wheel omnidirectional moving robot platform

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Embodiment Construction

[0018] The present invention will be further described below in conjunction with accompanying drawing and example.

[0019] Such as figure 1 , figure 2 As shown, the omnidirectional mobile chassis 1 includes a lower mounting plate 101, a middle mounting plate 103, an upper mounting plate 108, a lower connecting column 102, an upper connecting column 112, a motor module 110, an ultrasonic sensor 104, and a laser distance measuring sensor 105 , inertial measurement unit 116 , 48V battery 109 , 12V battery 115 , controller 111 and 12V battery mounting plate 113 . The lower mounting plate 101, the middle mounting plate 103 and the upper mounting plate 108 are all circular plates, the lower mounting plate 101 and the middle mounting plate 103 are connected by three lower connecting columns 102, and the middle mounting plate 103 and the upper mounting plate 108 pass through Three upper connecting columns 112 are connected; there are three motor modules 110, which are installed on...

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Abstract

The invention relates to a three-wheel omnidirectional moving robot platform, and belongs to the field of robots. The three-wheel omnidirectional moving robot platform is formed by an omnidirectionalmoving chassis, an electric module and the like. Motor modules are fixed into the chassis through motor bases and are uniformly distributed on the circumference of the chassis at 120 degrees; omnidirectional moving is realized through kinematic control; encoders are arranged on direct-current servo motors; the direct-current servo motors are fixed onto the motor bases; forces are transmitted to connecting shafts through couplers; one ends of the connecting shafts are fixed through integrated bearing seats; and the other ends of the connecting shafts are arranged on omnidirectional wheels, so that the control on the omnidirectional wheels through the direct-current servo motors is realized. The moving platform can move on a plane toward any direction and can further rotate in situ on the plane at any angle, so that a robot can freely move omnidirectionally and can flexibly move within a narrow space. The three-wheel omnidirectional moving robot platform provided by the invention adoptsMecanum wheels as moving mechanisms and does not need a rotating device so as to be simple and reliable to control. The three-wheel omnidirectional moving robot platform provided by the invention solves the problems that most existing moving chassis is large in turning radius and less in freedom degree.

Description

technical field [0001] The invention belongs to the field of robots, and in particular relates to a three-wheel omnidirectional mobile robot platform. Background technique [0002] At present, most of the robots that are widely used in the market have a mobile chassis with a two-wheel differential, which has the disadvantages of large turning radius and low degree of freedom. Therefore, we urgently need to design a robot mobile platform with a small and compact structure, which can move accurately and flexibly, and is easy to control. [0003] Wheeled mobile platforms are more and more widely used in practical applications due to their advantages such as fast speed, convenient and simple control, and smooth movement. In the development of wheeled mobile platforms, the omnidirectional mobile mechanism has always been a research hotspot. The so-called omnidirectional movement refers to the ability of the mobile platform to move in any direction on the plane, that is, three or...

Claims

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Application Information

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IPC IPC(8): B25J9/00B25J5/00
CPCB25J9/00B25J5/00B25J9/0009B25J5/007
Inventor 丛明刘冬邹强林鹏
Owner CHANGZHOU INST OF DALIAN UNIV OF TECH
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