运用曲率参数优化的全向轮滚子廓形设计

摘要

Introduced the structure of omni-direction wheel which is current used in the mobile robot field,and analyzed the reason which caused the bumpy of the mobile robot chassis. Based on the wheels and ground contact condition,present a way to modify the curved surface of rollers. Some local modification on the curvature radius of the rollers by means of using parabolic curve instead of the circular arc, and realized the height between the ODW axis and ground nearly unchanged. The Hertz contact theory and finite element method verified the result of the computation.%介绍了目前应用于移动机器人领域的全向轮结构,分析了由于全向轮自身结构而引起机器人移动底盘颠簸的原因,依据轮子与地面的接触状况,提出了一种对全向轮滚子外廓进行曲面修形的方法.用抛物线代替滚子廓形的圆弧曲线,对廓形曲率半径做局部修改,实现全向轮整体与地面接触高度基本不变.采用Hertz接触理论和有限元方法,验证了修形的理论计算结果正确.