Optimal design and actuator sizing of redundantly actuated omni-directional mobile robots
Optimal design and actuator sizing of redundantly actuated omni-directional mobile robots
复制标题
冗余驱动全向移动机器人的优化设计和执行器尺寸
DOI：
10.1109/robot.2002.1013445
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发表时间：
2002
期刊：
影响因子：
--
通讯作者：
Sang
中科院分区：
文献类型：
--
作者：
T. Park;Jae Hoon Lee;B. Yi;W. Kim;Bum;Sang
尽管全向移动机器人已经在多个应用领域得到了广泛的应用，但在这种移动机器人的优化设计方面的研究还很少。因此，本文对全方位移动机器人的优化设计进行了研究。特别是针对移动机器人的各向同性特性，确定了轮子机构一次或两次偏置距离和轮子半径等优化设计参数。此外，还研究了移动机器人的力传递特性和执行机构的尺寸问题，并对三种执行机构进行了分析。结果表明，具有三个主动脚轮的冗余式移动机器人性能最好。
Despite that omni-directional mobile robots have been employed popularly in several application areas, effort on optimal design of such mobile robots has been few in literature. Thus, this paper investigates the optimal design of omni-directional mobile robots. Particularly, optimal design parameters such as one or double offset distance of wheel mechanism and the wheel radius are identifed with respect to isotropic characteristic of mobile robots. In addition, the force transmission characteristics and actuator-sizing problem of mobile robots are investigated Analysis has been performed for three actuation sets. It is shown that the redundantly acruated mobile robot with three active caster wheels represents the best performance among them.