Mecanum轮全方位移动机器人技术及其应用

摘要

全方位移动机器人是指在地面可以进行前后、左右、原地回转等任意方向移动的机器人技术，Mecanum轮全方位移动机器人具有本体结构简单、控制性能优良、通过性好的全方位运动性能，在工程应用中得到越来越广泛关注。介绍了Mecanum轮机器人的全方位移动原理、Mecanum轮的结构设计与制造技术、精确运动控制技术、自动循迹及路径规划技术，并介绍了其在国内外军事与民用领域的典型工程运用。%Omnidirectional mobile robots can move in al directions,e.g. back and forth,sideway and spin. Due to their simple structures, good control performances and passing through abilities,Mecanumwheels based omnidirectional mobile robots attract extensive attention worldwide in industries in recent years. The principle of omnidirectional moving abilities of the mobile robots,the designing and manufacturing methods of Mecanum wheels,and the motion control and path fol owing as wel as path planning theories of Mecanumwheels based mobile robots are al briefly introduced in this paper. Final y,varies military and civil applications are demonstrated also in this review.