关键词: 全向移动, 移动机器人, 轮系结构, 单轮驱动

Abstract: Omnidirectional mobile robots can achieve in-place rotation and perform translation movement in any direction,with the advantages of small turning radius and strong adaptability,making them suitable for special logistics scenarios such as narrow aisles. However,existing omnidirectional mobile robots typically use multi-steering wheel drive systems,which have the disadvantages of high cost and large installation space requirements. Additionally,existing single-wheel structures lack omni-directional driving functionality. To address this issue, an omnidirectional mobile robot drive system with a single wheel consisting of 1 steering wheel and 3 steering wheels is designed. Through theoretical analysis,the dynamic equations of the drive system under three modes of linear motion,translation motion,and in-place rotation are studied. Dynamic simulation analysis of the three motion modes is conducted using Adams software,and the simulation results show that the structure can achieve omni-directional mobility. Finally,experiments are conducted to verify the feasibility of the drive system,with measurement results indicating that the positioning accuracy of the experimental prototype is ≤±15 mm,the repeatability positioning accuracy is ≤±10 mm,the in-place rotation angle deviation is ≤±0.6°,and the rotation radius is ≤925 mm.

Key words: omnidirectional movement, mobile robot, wheel system structure, single-wheel drive