Kinematics Analysis of Synchronized Mobile Steering Mechanism for Dodge Robot
Aiming at the problems of slow movement，poor steering ability and difficult control for the existing robot，a synchronous mobile steering mechanism with clear motion classification and simple structure is designed for dodging robot to realize omni-directional and fast movement in <italic>xOy<...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Transmission
2020-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2020.03.023 |
| _version_ | 1797819012468441088 |
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| author | Li Heng Zheng Meng He Beilin Ren Hangfei |
| author_facet | Li Heng Zheng Meng He Beilin Ren Hangfei |
| author_sort | Li Heng |
| collection | DOAJ |
| description | Aiming at the problems of slow movement，poor steering ability and difficult control for the existing robot，a synchronous mobile steering mechanism with clear motion classification and simple structure is designed for dodging robot to realize omni-directional and fast movement in <italic>xOy</italic> plane. The kinematics principle and the design basis of key parameters of the mechanism are introduced. The steering differential analysis of the mobile mechanism is carried out by using the differential principle，and the kinematics equation. The forward and inverse solutions of the mobile mechanism are obtained. At the same time，the three-dimensional model of the structure is established by UG software. After reasonable simplification，the model is imported into Adams for simulation analysis. The results verify the accuracy of the theoretical design and achieve the desired purpose. It provides an important reference for the design and development of robots. |
| first_indexed | 2024-03-13T09:16:38Z |
| format | Article |
| id | doaj.art-d91c36973c124a77b69d9f0e01f14da2 |
| institution | Directory Open Access Journal |
| issn | 1004-2539 |
| language | zho |
| last_indexed | 2024-03-13T09:16:38Z |
| publishDate | 2020-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj.art-d91c36973c124a77b69d9f0e01f14da22023-05-26T09:55:06ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392020-01-014414214731442030Kinematics Analysis of Synchronized Mobile Steering Mechanism for Dodge RobotLi HengZheng MengHe BeilinRen HangfeiAiming at the problems of slow movement，poor steering ability and difficult control for the existing robot，a synchronous mobile steering mechanism with clear motion classification and simple structure is designed for dodging robot to realize omni-directional and fast movement in <italic>xOy</italic> plane. The kinematics principle and the design basis of key parameters of the mechanism are introduced. The steering differential analysis of the mobile mechanism is carried out by using the differential principle，and the kinematics equation. The forward and inverse solutions of the mobile mechanism are obtained. At the same time，the three-dimensional model of the structure is established by UG software. After reasonable simplification，the model is imported into Adams for simulation analysis. The results verify the accuracy of the theoretical design and achieve the desired purpose. It provides an important reference for the design and development of robots.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2020.03.023Mobile mechanism |
| spellingShingle | Li Heng Zheng Meng He Beilin Ren Hangfei Kinematics Analysis of Synchronized Mobile Steering Mechanism for Dodge Robot Jixie chuandong Mobile mechanism |
| title | Kinematics Analysis of Synchronized Mobile Steering Mechanism for Dodge Robot |
| title_full | Kinematics Analysis of Synchronized Mobile Steering Mechanism for Dodge Robot |
| title_fullStr | Kinematics Analysis of Synchronized Mobile Steering Mechanism for Dodge Robot |
| title_full_unstemmed | Kinematics Analysis of Synchronized Mobile Steering Mechanism for Dodge Robot |
| title_short | Kinematics Analysis of Synchronized Mobile Steering Mechanism for Dodge Robot |
| title_sort | kinematics analysis of synchronized mobile steering mechanism for dodge robot |
| topic | Mobile mechanism |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2020.03.023 |
| work_keys_str_mv | AT liheng kinematicsanalysisofsynchronizedmobilesteeringmechanismfordodgerobot AT zhengmeng kinematicsanalysisofsynchronizedmobilesteeringmechanismfordodgerobot AT hebeilin kinematicsanalysisofsynchronizedmobilesteeringmechanismfordodgerobot AT renhangfei kinematicsanalysisofsynchronizedmobilesteeringmechanismfordodgerobot |