Kinematic Research On Volleyball Training Robot With Omni-directional Wheels

Supported by the Olympic Games science and technology special sub topic project, based on the research and manufacture the volleyball training system which can buckle and serve a volleyball, this paper makes a analysis of the autonomous mobile system which may be put into use in the future.Firstly this paper makes a introduction of the volleyball buckle device which has already been manufactured, analyses the basic capacity and the question. Then makes deeply analysis and research the present state of the national and international mobile robot , bases on this , a analysis of characteristic and the mobile difference of each kind of wheel is made. Then in view of enhances the mobility , a analysis of theoretical velocity regulation of the mobile robot with three Mekanum wheels triangular layout under four typical curve is made. Velocity regulation of each wheel equipped on the mobile robot under each kind of typical curve is obtained. Then the influence of robot geometry parameter under each kind of movement is compared . At last a primary design of the mobile flatform is made .This paper makes a Kinematic research on the mobile robot with three Mekanum wheels triangular layout .The result provides a theoretical basis not only to design the autonomous mobile system of volleyball training mobile robot but also to control the trace of mobile robots .