Chassis Design And Motion Control Of Omni-directional Mobile Robot

The Mobile robot is a comprehensive intelligent system which integrates mechanics,microelectronic,computer,sensor and other technologies.With the development of science and technology.Mobile robots,which can carry out omni-directional motion in the workspace,have become one of the most important research objects for experts and scholars and represented an important branch of robotics.The design of chassis mechanical structure and the realization of motion control are the most basic problems in the design of omni-directional mobile robot.This article designs the chassis mechanical and realizes the robot's motion control on the basis of China Robotics Competition,which improves the existing mechanical structure in the laboratory,reduces the cost and provides a reliable experimental platform for the subsequent work.The main contents of this article are as follows:First of all,according to the design requirements of the omni-directional mobile robot,this article analyzes chassis' s capability of mobility,selects the suitable chassis moving structure style and calculates the driving force of the chassis by combining the chassis mechanical structure style.It also provides the data support for chassis mechanical structure design,selects corresponding motor and driving parts according to the calculation of driving force,designs transmission structure,obtains a complete chassis mechanical structure and verifies the key parts.Secondly,this article establishes the corresponding kinematics model according to the results of mechanical structure,design and analyzes the motion state in the actual process.Besides kinematics analysis,the dynamic analysis is also added.Finally the article selects the motion control scheme based on kinematics.Then it selects and designs the hardware of motion control according to the whole scheme of motion control,and the incremental PID algorithm is added to the bottom motion control so that the accuracy and robustness of motion control are improved.Finally,on the basis of the lower computer,the upper computer is built to realize the obstacle avoidance function,which helps to build a complete robot hardware system which contains main board and single-chip.In the realization of obstacle avoidance function,this article solves the problems of the communication between hardware and defines the motion state in the upper computer,which lays the groundwork for the development of the upper computer.