Omni-directional Driving Wheel Robot System Design And Development

Modern robot technology was born in the 1940s. In recent years, with the development of computers, microelectronics, Artificial Intelligence (AI), sensors, and networks, the robot technology becomes a research hotspot of many subjects gradually, and its applications are more and more wide. Mobile robot attracts more and more attention, because of its function in serving, Artificial Intelligence (AI) etc. Based on the analysis of domestic and international mobile robot research, a mobile robot with four all-directions wheels was designed, which has a two-layer structure used PC and DSP as the main controllers. The robot platform is an open and common system, and can be extended or cutted according to your purposes.The main work of the paper is as follows:Firstly, the system architecture is designed. A scheme of wheeled robot which has two CPU and distributed control architecture is adopted. The hardware structure of robot system is divideded into host decision-making systems, motion control system, the motor drive system, information collection system and wireless communications system.In the aspect of mechanical structure, the requirements of the mechanical design of wheeled robot are discussed firstly. Then the design of mechanical structure is expatiated in detail, which includes: design of all-directions wheel, choice of motors, design of mechanical drive device, choice of battery, design of mechanical vehicle and choice of materials.In the aspect of hardware structure, the main work includes: choice of core chip (PC+DSP), control system design based on the DSP (TMS320LF2407A), choice of motor-driven approach, H-bridge driver design, sensor system design and design of voltage converter.In the aspect of software platform, the software strategies are divided into two parts. For the DSP motion control system, the whole idea of software design and the processes of main program are introduced, and the design methods and procedures of serial communication, motor speed conversion algorithm, PI speed control algorithm, PWM signal generation and photoelectric encoder system, are expatiated in detail. For the top PC decision-making system, some software of basic functions, including motion control, image acquisition and sensor function tests, is provided.Finally, the author's research results, experience and shortcomings are summarized, and some topics for future mobile robot research. are introduced.