| With the advent of the era of industrial automation, the application technology of mobileoperational robot is becoming to improve the key technology of improving the productivit y andreducing the product cost, and it is widely used in various fields. While the robot technology isdeveloping and the productivity requirement is improving continuously, the robot flexibilitybecome the performance index of balancing mobile robot, especially in narrow space. Therefore,the mobile robot with high flexibility is the ideal plan for working in narrow indoor space.Decoupling type active full-casters of the omnidirectional robot have three flat freedom ofmoving, so mobile’s flexibility is strong, which is the ideal solution of mobile robot working inthe narrow space.This paper proposed a novel decoupled power caster wheel, which makes the steer motionand roll motion controlled independently. In this paper the kinematic model of this robot is alsoestablished, and Simulation verified the accuracy of the model. Simulation results expatiatedthat the robot is able to do the lateral and spin motion with the condition of pure rolling. Thiscan be a good solution for the mobile robot working well in narrow space. In the paper adynamic modeling method based on decoupled powered caster wheel is put forward for theomnidirectional mobile robot, which is providing fundamental basis for motor type selectingand force hybrid control. Otherwise, omnidirectional mobile robot movement is not smooth,which can make the mobile robot mechanical parts accelerated wear and tear. However, we canonly see this phenomenon and not conclude the detailed changes its size. In this paper, theauthors use the wheeled vehicles parasitic power analysis method to analyze it. The parasiticpower coefficient means that the smooth degree of robot movement, which will be a visual display in the form of numerical value. It will be a theoretical basis in terms of robot motionsmooth degree. |
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