【作者】 聂晓璐；

【导师】 赵臣；

【作者基本信息】 天津大学 ， 机械制造及其自动化， 2006， 硕士

【摘要】 小型组足球机器人要求反应迅速,运动灵活,以便完成发球、接传球、踢球、防守、断球、射门等动作,运动是其最重要的功能。运动性能研究是整个机器人机械设计的基础环节,所设计出的车体和运动机构应该保证整个机器人具有最佳的运动性能。全方位轮机构有效地避免了普通车轮不能侧向运动带来的非完整性约束,能够在保持车体方位不变的情况下在平面上沿任意方向直线移动,路径最短,具有明显的优势,成为近几年来小型足球机器人主要发展趋势。全方位轮足球机器人运动灵活,能够较好地满足小型足球机器人比赛的需要。本文对几种基本的全方位轮结构进行了运动学分析,研究了它们的运动性能和结构特点,为选择三轮或四轮机器人提供了理论依据;探讨了因安装踢球器等装置对全方位机器人运动情况产生的影响,为合理地确定踢球器等机构主要尺寸提供了参考依据;讨论了全方位机器人的控制方法,为如何更好地控制机器人的运动提供了理论依据;提出一种全方位轮上小滚子的安装方式,为车体机构的设计提供了参考;对全方位机器人进行了误差分析,建立了运动学误差模型,分析了结构参数误差对车体运动性能的影响,为车体机构的设计提供了理论依据。更多还原

【Abstract】 Motion is the basic function of soccer robot. Small soccer robots are required to respond quickly and move agilely in order to well accomplish serving, catching, passing, kicking, defending, shooting and other actions. Study on the kinematic performance is the basic part of design of the whole robot. The designed robot and its motion mechanisms should ensure the robot to posess good motion performance.The omni-directional wheel can effectively avoid non-holonomic constraint caused by common used wheels that are not able to move laterally. It is thus capable for the robot to move straightly in any direction while keeping the orientation of the body unchanged. As the path may be the shortest, omni-directional robot becomes primary developing trend of small soccer robots in recent years. The omni-directional soccer robot moves agilely and can meet demands of small soccer robot match better. This paper gives kinematic analyses with regard to some kinds of basic omni-directional wheels, studies their motion performance and structural characters, provides theories for selecting three-wheel or four-wheel robot; discusses influences on the motion of the omni-directional robot caused by mounting of some equipments such as kicker etc., provides references which are helpful to define chief dimensions of kicker and some other mechanisms as well reasonably; discusses approaches to control of omni-directional robot, provides theories for better motion control; presents a method of mounting small rollers on the omni-directional wheel, provides references for design of the robot body; gives error analysis of the omni-directional robot, establishes the kinematic error model, analyzes influences on motion performance of the robot body induced by errors of structural parameters, provides theories for the design of the robot body.更多还原