Full-Text Search:
Home|Journal Papers|About CNKI|User Service|FAQ|Contact Us|中文
《Mechanical Science and Technology for Aerospace Engineering》 2007-11
Add to Favorite Get Latest Update

Kinematic Analysis of Omni-directional Small Soccer Robot

Nie Xiaolu,Zhao Chen(School of Mechanical Engineering,Tianjin University,Tianjin 300072)  
Installations of some specific devices between front wheels of the omni-directional small 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 three-wheel and four-wheel omni-directional small soccer robots with respect to angles between the two front wheels is established.The influences of the angles on the kinematic and dynamic performance of the body while the body is moving straightly along any direction is analyzed.The performance of three-wheel robots is compared with that of four-wheel robots.
【CateGory Index】: TP242
Download(CAJ format) Download(PDF format)
CAJViewer7.0 supports all the CNKI file formats; AdobeReader only supports the PDF format.
©2006 Tsinghua Tongfang Knowledge Network Technology Co., Ltd.(Beijing)(TTKN) All rights reserved