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《Mechanical Science and Technology for Aerospace Engineering》 2009-03
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A Study of the Kinematics Model of a Mobile Robot with Four Omni-directional Wheels

Yang Shiqiang,Fu Weiping,Zhang Pengfei(Faculty of Mechanical and Precision Instrument Engineering,Xi′an University of Technology,Xi′an 710048)  
Omni-directional mobile robots with three degrees of freedom possess high mobility on the motion plane.An omni-directional mobile robot is constructed which consists of four sets of wheel assemblies equally spaced at 90 degrees from one another.Each of its wheel assembly consists of a pair of Mekanum wheels with an active(the propelling direction of the actuator) and a passive(free-wheeling) direction which are orthogonal to each other.The kinematic model of the mobile robot is established according to rigid kinematics,and the kinematic precision of the omni-directional wheel is analyzed.The validity and feasibility of this kinematic model is verified by MATLAB simulation and experiments in laboratory based on rolling window path planning algorithm.
【Fund】: 国家自然科学基金项目(10872160);; 陕西省机械制造装备重点实验室项目(05JS29)资助
【CateGory Index】: TP242
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