KINEMATICS OF THE MOTION FOR THREE ROLLER-BEARING WHEELS ROBOT
Abstract
The article introduction provides an overview of the historical development of mechatronic devices, from ancient times to the present. It is emphasized that the development of modern robotics in relation to work in aggressive environments is a very urgent task. Especially important is the creation of autonomous functioning robots to work in high radiation areas, chemically contaminated areas, demining, fire extinguishing, etc. Then this article presents material on the physics of a mechanical system motion, which is a mobile platform with three roller-bearing wheels, or so-called omni-wheels. This question is revealed on the basis of the derivation of the kinematic equations for the platform motion, based on transformation matrices, which allow to obtain the total dependences of the projections of the linear velocities of the roller-bearing wheels on the axis of the fixed (base) coordinate system. It is indicated that the transition to movement from the position at to the position at can be carried out in two ways. In the first method, the robot turns around on the center of mass by creating a torque about the vertical axis of the robot, followed by movement parallel to the axis . In the second method, by creating such a state of the wheels, i.e. the magnitude of the linear velocity and its direction, which will ensure a linear movement of the center of mass of the robot in a given direction without first rotating the body about the vertical axis. It is noted that the first method in relation to the second has both advantages and disadvantages. The advantages include ease of management and the ability to rigidly fix the camera of the review on the platform body. However, this method is more energy consuming and requires additional time for the implementation of the camera turn to a given direction. The second method is not deprived of these drawbacks, and the overview camera may have a turning mechanism, which ensures its independent functioning from the platform position control system. Given this, the kinematics of the movement of the platform according to the second method are considered. As an example, it is shown that by jointly solving the obtained kinematic equations, for example, for selected mutually perpendicular directions of the platform mass center movement, characterized by angles or , it is easy to explain the physics of platform moving in a given direction from any starting position without first turning to a given direction.
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DOI: https://doi.org/10.32620/oikit.2018.82.05
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