Differential drive mobile robot platform

Abstract

The invention belongs to the field of robots, and particularly relates to a differential drive mobile robot platform, which is based on a wheel type moving mechanism, and is characterized by comprising a bottom plate and two driving wheels arranged at the bottom of the bottom plate, and the two driving wheels are each controlled and driven by a driving mechanism and transmission mechanism group. Athree-wheel structure is adopted, differential driving is achieved through the two driving wheels, one universal wheel is used for balancing and steering, the structure is more reasonable and simplerthan that of four wheels, the cost is saved, and advancing, retreating and steering of different radiuses of the moving mechanism are achieved by controlling the rotating speeds of the two motors; meanwhile, the tensioning mechanism is arranged, so that the tensioning problem of a synchronous belt is simply and skillfully solved, the space is saved, and the transmission efficiency is improved.

Description

technical field [0001] The invention belongs to the field of robots, and in particular relates to a differential drive mobile robot platform. Background technique [0002] At present, there are mainly six types of devices for realizing robot movement: wheel type, crawler type, leg type, peristaltic type, jumping type, and compound type. Among them, wheel type, crawler type, and leg type moving mechanisms are the most researched and are currently used. The three most widely used mobile mechanisms on the mobile device of the robot. The track-type mobile mechanism is suitable for low-speed operation on irregular terrain, stairs and trenches. It has strong adaptability and stability to the terrain, but the track is easy to wear and consumes relatively large power, and the driving mechanism is relatively heavy. Slow; the leg-type mobile mechanism is designed according to the principle of bionics, which can meet special requirements, but the structure is more complicated, the con...

AI Technical Summary

Problems solved by technology

The track-type mobile mechanism is suitable for low-speed operation on irregular terrain, stairs and trenches. It has strong adaptability and stability to the terrain, but the track is easy to wear and consumes relatively large power, and the driving mechanism is relatively heavy. Slow; the leg-type mobile mechanism is designed according to the principle of bionics, which can meet special requirements, but the structure is more complicated, the control is difficult, and the moving speed is slower; on the contrary, the biggest feature of the wheel-type mobile mechanism is its simple structure and large bearing capacity. , drive and control are relatively simple and convenient, fast moving, flexible and efficient, so wheeled mobile mechanisms are widely used in industry, agriculture, medical and family fields

[0003] The driving mode of the existing wheeled mobile mechanism is mainly the steering wheel type, that is, the front wheel is the steering wheel, and the rear wheel is the driving wheel. This driving mode requires the design of a special steering mechanism

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