用于竞赛的全向移动机器人设计与运动分析

摘要

This paper introduces the design and composition of the omnidirectional mobile robot used for racing. Three-dimensional CAD Software Solidworks is used to build the model for kinematics and dynamics analysis. The change law and essence of different centroid position track are studied. The kinematics equation of the robot for moving is established. , more stable and reliable better results of the omnidirectional mobile robot are achieved in competition use.%介绍了用于竞赛的全向移动机器人的设计与构成,运用三维CAD软件SolidWorks建模及对其运动学、动力学模型进行详细的研究分析,研究其运动时不同的质心位置轨迹的变化规律及本质,并且建立了该移动机器人适用的运动学方程,使全向移动机器人在竞赛的使用中,更加稳定可靠,争取在比赛中取得更好的成绩.