摘要
通过对Mecanum轮全方位运动系统的运动学解析,给出系统轮结构对系统实现全方位运动的约束条件。约束条件包括轮数量、轮结构参数、轮组几何布局结构形式与系统实现全方位运动的关系等,同时分两类轮组布局结构形式讨论系统中存在的奇异位形,并给出减少或避开系统奇异位形的方法。
Though kinematics analyzing for Mecanum wheeled omni-directional motion system, the restricted conditions of the system to move in omni-directions are presented. These conditions include relationships of the wheel structure, wheels number and the system lay-out to system to move in omnidirection. The singular configuration of the system is showed out from two class system layouts, it is presented that how to decrease or avoid the singular configuration of the system to move in omnidirections.
出处
《上海大学学报（自然科学版）》
CAS
CSCD
北大核心
2009年第2期181-185,共5页
Journal of Shanghai University:Natural Science Edition
关键词
MECANUM轮
全方位运动
运动约束条件
奇异位形
Mecanum wheel
omni-directional motion
motion restricted condition
singular configuration
