| The omni-directional mobile robots have full three degrees of freedom in the plane. Withexceptional omni-directional movement ability, they can achieve efficient movement in thenarrow space. Therefore, omni-directional robots are suitable for the works in the complexenvironments. This paper is mainly to research the motion performances of MY (MutualYOYO) omni-directional robot.At first, the results of previous researches about the omni-directional mobile robots wereextensively studied. And the core part of our omni-directional mobile robots–MY wheelswere emphatically introduced. Design ideas of MY wheels and the improvement process wereclearly made. The entire MY family includes MY1with double-crown, MY2with differentialstructure (DS) and MY3with DS&PU. The optimization process design of MY3and theroundness check and the impact check were done.Based on the analysis of MY wheels, the kinematics model of an omni-directionalmobile robot with3-MY wheels was built to analyze its motion features. In order to achievethe optimal control of the MY robot, its dynamics model was established by means ofemploying Newton-Euler’s formula. The anisotropy of acceleration for MY robot was studiedand analyzed.Based on the anisotropy of velocity and acceleration of omni-directional robot, a newkind of acceleration method for the three-wheel mobile robot was presented. The characters ofthe regular acceleration and the new one were compared. The rotating speed and drivingtorques required by the whole acceleration method were obtained through the simulationexperiment.Based on the analysis of kinematics and dynamics of MY omnidirectional robot, amotion planning method was presented, which would have a significant effect for thepractical application. |
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