Development of an Omnidirectional Mobile Platform

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	Development of an Omnidirectional Mobile Platform
	Ye ZL(叶长龙); Ma SG(马书根)
	2009
会议名称	IEEE International Conference on Mechatronics and Automation
会议日期	August 9-12, 2009
会议地点	Changchum, China
关键词	omnidirectional robot mechanism design kinematics sliced ball structure
页码	1111-1115
中文摘要	A novel omnidirectional wheeled mechanism, named as MY wheel, is developed based on the sliced ball structure in this paper. With mutual passive motion of two sliced balls on the same one active axis, an omnidirectional motion can be achieved. The passive rotational axes of two sliced balls are inclined with 45 degree in two parallel planes, which are perpendicular to the active axis, to realize continuous contact with the ground. This wheeled mechanism also improves the wheel intensity to carry a heavy burden, which is a key problem for omnidirectional mechanism. An omnidirectional mobile platform composed of three MY wheels is developed for validating MY wheel mechanism. Kinematic analyses are presented to verify the omnidirectional movement of this platform. Experimental results show the validity of this platform.
收录类别	EI ; CPCI（ISTP）
产权排序	1
会议主办者	IEEE, IEEE Robot & Automat Soc, Changsha Univ Scie & Technol, Kagawa Univ, Natl Nat Sci Fdn China, Chinese Assoc Automat, Robot Soc Japan, Japan Soc Mech Engn, Japan Soc Precis Engn, Soc Instrument & Control Engineers, Harbin Engn Univ, Univ Elect Commun, Univ Elect Sci & Technol China, Beijing Univ Technol, Jilin Univ, Kagoshima Univ, Harbin Inst Technol, Assoc Young Sci &Technol
会议录	2009 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS 1-7, CONFERENCE PROCEEDINGS
会议录出版者	IEEE
会议录出版地	NEW YORK
语种	英语
ISBN号	978-1-4244-2692-8
WOS记录号	WOS:000280158100202
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/8666]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	Ye ZL,Ma SG. Development of an Omnidirectional Mobile Platform[C]. 见:IEEE International Conference on Mechatronics and Automation. Changchum, China. August 9-12, 2009.