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《Mechatronics》 2006-04
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Kinematic Analysis of Omni-directional F180 Soccer Robot

Installations of some specific devices between front wheels of the omni-directional F180 soccer robots,such as the installation of dribbling mechanism,can have a bit of disadvantageous influences on the layout of omni-directional wheels and consequently influence the kinematic and dynamic performance of the whole body.In this paper,the kinematic model of the velocities of active wheel and passive rollers of threewheel and four-wheel omni-directional F180 soccer robots with respect to angles between the two front wheels is established and also the analysis of the influences of angles on the kinematic and dynamic performance of the body while the body is moving straightly along any direction is presented.This paper may be of some instructive effects in terms of the mechanical design of the robot body.
【CateGory Index】: TP242
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