Analysis On The Kinematic Performance Of Omni-directional F180 Soccer Robot

Motion is the basic function of soccer robot. Small soccer robots are required to respond quickly and move agilely in order to well accomplish serving, catching, passing, kicking, defending, shooting and other actions. Study on the kinematic performance is the basic part of design of the whole robot. The designed robot and its motion mechanisms should ensure the robot to posess good motion performance.The omni-directional wheel can effectively avoid non-holonomic constraint caused by common used wheels that are not able to move laterally. It is thus capable for the robot to move straightly in any direction while keeping the orientation of the body unchanged. As the path may be the shortest, omni-directional robot becomes primary developing trend of small soccer robots in recent years. The omni-directional soccer robot moves agilely and can meet demands of small soccer robot match better. This paper gives kinematic analyses with regard to some kinds of basic omni-directional wheels, studies their motion performance and structural characters, provides theories for selecting three-wheel or four-wheel robot; discusses influences on the motion of the omni-directional robot caused by mounting of some equipments such as kicker etc., provides references which are helpful to define chief dimensions of kicker and some other mechanisms as well reasonably; discusses approaches to control of omni-directional robot, provides theories for better motion control; presents a method of mounting small rollers on the omni-directional wheel, provides references for design of the robot body; gives error analysis of the omni-directional robot, establishes the kinematic error model, analyzes influences on motion performance of the robot body induced by errors of structural parameters, provides theories for the design of the robot body.