Design of a New Robot for Working in Building Environment
A new robot is designed which has three degrees of freedom movement in the round plane and can passively cross the vertical barriers up to 2. 5 times radius of the wheel. The six drive wheels control are used in this robot,four Mecanum wheels with a rectangular arrangement are used in its body to ma...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2016-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2016.01.018 |
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| author | 臧红彬 陶俊杰 周颖玥 许雄 蔡勇 沈连婠 |
| author_facet | 臧红彬 陶俊杰 周颖玥 许雄 蔡勇 沈连婠 |
| author_sort | 臧红彬 |
| collection | DOAJ |
| description | A new robot is designed which has three degrees of freedom movement in the round plane and can passively cross the vertical barriers up to 2. 5 times radius of the wheel. The six drive wheels control are used in this robot,four Mecanum wheels with a rectangular arrangement are used in its body to make it have a omni- directional motion function in plane ground. The front and rear wheels of the robot uses omni- directional wheels,so that it can keep rolling state with the ground when cornering and lateral movement. The six wheels are mounted on an elevated body such as climbing linkage mechanism,climb mechanism,stable mechanism,,so it has a good stair climbing and obstacle functions. The general kinematics model of the omni- directional motion system is given,and the necessary condition for the realization of the omni- directional motion is the inverse of the Jacobi matrix with full rank. The structure and layout of the wheels for the omni- directional motion system is optimized and selected. The functions of the robot system including straight movement,lateral movement,zero turning radius and climbing the stairs are simulated based on the virtual prototype technology. |
| format | Article |
| id | doaj-art-59f35288b29349c3bce4b65fda4d3ae4 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2016-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-59f35288b29349c3bce4b65fda4d3ae42025-01-10T14:19:47ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392016-01-0140828629922136Design of a New Robot for Working in Building Environment臧红彬陶俊杰周颖玥许雄蔡勇沈连婠A new robot is designed which has three degrees of freedom movement in the round plane and can passively cross the vertical barriers up to 2. 5 times radius of the wheel. The six drive wheels control are used in this robot,four Mecanum wheels with a rectangular arrangement are used in its body to make it have a omni- directional motion function in plane ground. The front and rear wheels of the robot uses omni- directional wheels,so that it can keep rolling state with the ground when cornering and lateral movement. The six wheels are mounted on an elevated body such as climbing linkage mechanism,climb mechanism,stable mechanism,,so it has a good stair climbing and obstacle functions. The general kinematics model of the omni- directional motion system is given,and the necessary condition for the realization of the omni- directional motion is the inverse of the Jacobi matrix with full rank. The structure and layout of the wheels for the omni- directional motion system is optimized and selected. The functions of the robot system including straight movement,lateral movement,zero turning radius and climbing the stairs are simulated based on the virtual prototype technology.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2016.01.018Building environmentOmni-directional movingObstacle functionMovement mechanismNew robot |
| spellingShingle | 臧红彬 陶俊杰 周颖玥 许雄 蔡勇 沈连婠 Design of a New Robot for Working in Building Environment Jixie chuandong Building environment Omni-directional moving Obstacle function Movement mechanism New robot |
| title | Design of a New Robot for Working in Building Environment |
| title_full | Design of a New Robot for Working in Building Environment |
| title_fullStr | Design of a New Robot for Working in Building Environment |
| title_full_unstemmed | Design of a New Robot for Working in Building Environment |
| title_short | Design of a New Robot for Working in Building Environment |
| title_sort | design of a new robot for working in building environment |
| topic | Building environment Omni-directional moving Obstacle function Movement mechanism New robot |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2016.01.018 |
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