A Novel Omnidirectional Mobile Robot With Wheels Connected by Passive Sliding Joints
A Novel Omnidirectional Mobile Robot With Wheels Connected by Passive Sliding Joints
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DOI：
10.1109/tmech.2018.2842259
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发表时间：
2018-05
期刊：
影响因子：
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通讯作者：
Tatsuro Terakawa;M. Komori;Kippei Matsuda;Shinji Mikami
中科院分区：
文献类型：
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作者：
Tatsuro Terakawa;M. Komori;Kippei Matsuda;Shinji Mikami
用于在工厂和仓库中自动运输产品的移动的机器人有助于提高效率。全方位移动的机器人可以立即向任意方向移动，克服了传统移动的机器人缺乏移动性的缺点。然而，过去提出的全向移动的机器人由于其复杂的轮机构而不如传统的移动的机器人（例如自动导引车（AGV））可靠。提出了一种新型的全方位移动的机器人--可滑动轮式全方位移动的机器人（SWOM）。滑动接头的相对运动允许SWOM使用传统的轮子。因此，SWOM实现了全向移动性和结构可靠性。本文讨论了全方位移动的机器人的运动学条件，从理论上证明了SWOM可以实现全方位移动。我们提出了一个运动学分析，考虑到有限的可移动范围的滑动关节的可达区域评估，和轨迹生成，使SWOM无限移动。我们开发了一个SWOM的原型，并进行实验，显示SWOM实际上根据理论移动。从以上，我们验证了SWOM作为一个全方位的移动的机器人的有效性。
Mobile robots for automatically transporting products in factories and warehouses contribute to an increase in efficiency. Omnidirectional mobile robots can move immediately in an arbitrary direction and overcome the disadvantages of lack of mobility in conventional mobile robots. However, the omnidirectional mobile robots proposed in the past have not been as reliable as the conventional mobile robots, such as automated guided vehicles (AGVs) due to their complicated wheel mechanisms. This paper proposes a novel omnidirectional mobile robot named slidable-wheeled omnidirectional mobile robot (SWOM), which has three wheels that connect to the robot body by three passive sliding joints. The relative movements of the sliding joints allow SWOM to use conventional wheels. Thus, SWOM realizes both omnidirectional mobility and structural reliability. In this paper, we discuss the kinematic conditions for omnidirectional mobile robots and prove theoretically that SWOM can achieve omnidirectional movement. We present a kinematic analysis, a reachable region evaluation considering the limited movable range of the sliding joints, and trajectory generation that enables SWOM to move unlimitedly. We develop a prototype of SWOM and conduct experiments that show SWOM actually moves according to the theory. From above, we verify the effectiveness of SWOM as an omnidirectional mobile robot.