Self-lock Characteristic of the Omni-directional Mobile Robot Based on Single Row Alternate Wheel
While researches on the single row alternate wheel and its mobile robot are not rarely seen,this paper offers a creative way different from past studies to analyze their self-lock characteristic by means of friction analysis.In the first stage,we analyze the structure of the single row alternate wheel.Statistics demonstrate when the single wheel is locked,it mainly creates three types of fiction: the sliding fiction along the radial direction of the wheel,and the rolling and bearing fiction along the axial direction.Experiments are designed to measure the friction coefficients.Next,we introduce the self-lock characteristic of the single row alternate wheel based on the frictions measured above.Finally,we derive a mathematical model to calculate the force on the self-locked mobile robot.Experiments are designed to test the characteristic of the mobile robot on different materials like paper and carpet,which validate the mathematical model.The results of this study contribute to a more comprehensive evaluation of various types of motion characteristics of the omni-directional wheels.
single row alternate wheel friction model self-lock characteristic mobile robot
Defa Zhang Weihua Zhou Bing Zheng Xiaofen Li Ban Wang Jifeng Guo
Taizhou Vocational & Technical College,Taizhou 318000,China College of Business Administration,Zhejiang Gongshang University,Hangzhou,310018,China College of Electric Engineering,Zhejiang University,Hangzhou,310027,China
国际会议
重庆
英文
236-240
2019-05-30（万方平台首次上网日期，不代表论文的发表时间）