Study On Omnidirectional Mobile Robot With Manipulator

Mobile robot is a important branch in the robot field. In many cases, for example, military affairs, danger tasks and services, robots can be controlled by using real time communication, to realize flexible movement according to desired velocity, orientation and trajectory. In this paper, a mobile robot with a manipulator are designed and studied. It has been primarily realized to move with an arbitrary angle and velocity on level, and the manipulator can pick up objects in a certain area of the front.The omni-directional mobile robot consists of a wheeled mobile mechanism and a manipulator. The mobile body of the robot uses four-wheel mechanism, and eight motors are used to realize the revolution and swerve respectively. In order to pick up objects in front of the robot to realize certain functions, a four-joint mechanical arm containing a clamp is designed.The manipulator is analyzed by kinematics. Coordinate system of the manipulator is built, and kinematic equation is obtained. The reverse kinematics of the robot is analyzed using algebra and geometry, and the conditions to eliminate excrescent results are presented. And the working space of the mechanical arm is gained, singularity of the manipulator is analyzed.Based on the results of kinematics analysis, the kinematical performance is analyzed, and The Lagrange dynamical equation is found, and it is predigested according to the practical aim, which provids necessary preparative and referenced gist for the control of the robot.According to the analyzing results upwards, the author completed trajectory plan for the moving platform, analyzed conditions avoiding obstacles when the robot is moving, and completed trajectory plan for the mechanical arm based on Joint-Space and Descartes-Space according robot's assignments. There are some examples carrying out ADAMS animation simulation and example validation.Based on design and analysis theoretically, the electrocircuits of the robot is validated, providing a base for the following studying and experiments.