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外文翻译---瑞典轮式全方位移动机器人 英文版.pdf

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外文翻译---瑞典轮式全方位移动机器人 英文版.pdf

164IEEETRANSACTIONSONROBOTICS,VOL25,NO1,FEBRUARY200940CGALLETTIANDPFANGHELLA,“SINGLELOOPKINEMATOTROPICMECHANISMS,”MECHMACHTHEORY,VOL36,NO3,PP437–450,200941PFANGHELLA,CGALLETTI,ANDEGIANNOTTI,“PARALLELROBOTSTHATCHANGETHEIRGROUPOFMOTION,”INADVANCESINROBOTKINEMATICSTHENETHERLANDSSPRINGER,2006,PP49–5642SREFAAT,JMHERVE,SNAHAVANDI,ANDHTRINH,“TWOMODEOVERCONSTRAINEDTHREEDOFSROTATIONALTRANSLATIONALLINEARMOTORBASEDPARALLELKINEMATICSMECHANISMFORMACHINETOOLAPPLICATIONS,”ROBOTICA,VOL25,NO4,PP461–466,200743XWKONG,CMGOSSELIN,ANDPLRICHARD,“TYPESYNTHESISOFPARALLELMECHANISMSWITHMULTIPLEOPERATIONMODES,”ASMEJMECHDES,VOL129,NO6,PP595–601,200744DZLATANOV,IABONEV,ANDCMGOSSELIN,“CONSTRAINTSINGULARITIESOFPARALLELMECHANISMS,”INPROCIEEEINTCONFROBOTAUTOM,WASHINGTON,DC,2002,PP496–50245DZLATANOV,IABONEV,ANDCMGOSSELIN,“CONSTRAINTSINGULARITIESASCSPACESINGULARITIES,”INADVANCESINROBOTKINEMATICS,JLENARCICANDFTHOMAS,EDSDORDRECHT,THENETHERLANDSKLUWER,2002,PP183–19246KHHUNT,“CONSTANTVELOCITYSHAFTCOUPLINGSAGENERALTHEORY,”JENGIND,VOL95B,NO2,PP455–464,1973SWEDISHWHEELEDOMNIDIRECTIONALMOBILEROBOTSKINEMATICSANALYSISANDCONTROLGIOVANNIINDIVERIABSTRACTSWEDISHWHEELEDROBOTSHAVERECEIVEDGROWINGATTENTIONOVERTHELASTFEWYEARSTHEIRKINEMATICMODELSHAVEINTERESTINGPROPERTIESINTERMSOFMOBILITYANDPOSSIBLESINGULARITIESTHISPAPERADDRESSESTHEISSUEOFKINEMATICMODELING,SINGULARITYANALYSIS,ANDMOTIONCONTROLFORAGENERICVEHICLEEQUIPPEDWITHNSWEDISHWHEELSINDEXTERMSMOBILEROBOTKINEMATICS,MOBILEROBOTS,MOTIONCONTROL,WHEELEDROBOTSIINTRODUCTIONINTHELASTFEWYEARS,SWEDISHWHEELEDOMNIDIRECTIONALMOBILEROBOTSHAVERECEIVEDGROWINGATTENTIONAMONGTHEMOBILEROBOTICSRESEARCHCOMMUNITYASWEDISHWHEELDIFFERSFROMACOMMONWHEELINTHEFACTTHATROLLERSAREMOUNTEDONITSPERIMETERSEEFIG1IFALLTHEROLLERSAREPARALLELTOEACHOTHERANDMISALIGNEDWITHRESPECTTOTHEWHEELHUBAXIS,THEYWILLPROVIDEANEXTRADEGREEOFMOBILITYWITHRESPECTTOATRADITIONALPERFECTLYROLLINGWHEELTHEWHEELSDEPICTEDINFIG1AREOFTENCALLEDMECANUMORSWEDISHWHEELSONEOFTHEIRDESIGNPARAMETERSISTHEANGLEΓBETWEENTHEROLLERSROLLINGDIRECTIONGANDTHEWHEELHUBAXISDIRECTIONHTYPICALVALUESAREΓ45◦ANDΓ0◦,ASSHOWNINFIG1LEFTANDRIGHTCASES,RESPECTIVELYNOTETHATTHEDEGENERATECASEΓ90◦HASNOPRACTICALINTERESTASITWOULDALLOWTHESAMEMOBILITYOFTRADITIONALWHEELSINTHEMANUSCRIPTRECEIVEDJUNE27,2008;REVISEDOCTOBER6,2008ANDNOVEMBER19,2008FIRSTPUBLISHEDJANUARY21,2009;CURRENTVERSIONPUBLISHEDFEBRUARY4,2009THISPAPERWASRECOMMENDEDFORPUBLICATIONBYASSOCIATEEDITORFLAMIRAUXANDEDITORWKCHUNGUPONEVALUATIONOFTHEREVIEWERS’COMMENTSGINDIVERIISWITHTHEDIPARTIMENTOINGEGNERIAINNOVAZIONE,UNIVERSITYOFSALENTO,73100LECCE,ITALYEMAILGIOVANNIINDIVERIUNILEITCOLORVERSIONSOFONEORMOREOFTHEFIGURESINTHISPAPERAREAVAILABLEONLINEATHTTP//IEEEXPLOREIEEEORGDIGITALOBJECTIDENTIFIER101109/TRO20082010360FIG1MECANUMWHEELΓ45◦LEFTANDΓ0◦RIGHTLITERATURE,WHEELSWITHΓ45◦AREMOREOFTENCALLEDMECANUMWHEELSWHEREASTHEONESWITHΓ0◦AREGENERALLYCALLEDSWEDISHWHEELSINTHEFOLLOWING,THETERMSWEDISHWHEELWILLDENOTETHEGENERALCASEFORSOMEFIXEDΓASREPORTEDIN1,THEMECANUMWHEELWASINVENTEDIN1973BYBENGTILON,ANENGINEERWORKINGFORTHESWEDISHCOMPANYMECANUMABSINCETHEN,THISWHEELDESIGNHASATTRACTEDTHEATTENTIONOFTHEMOBILEROBOTICSRESEARCHCOMMUNITYTHEINTERESTINSUCHKINDOFWHEELSISRELATEDTOTHEPOSSIBILITYOFDEVELOPINGOMNIDIRECTIONALROBOTSINTHESENSEOF2,IE,ROBOTSTHAT“HAVEAFULLMOBILITYINTHEPLANEMEANINGTHEREBYTHATTHEYCANMOVEATEACHINSTANTINANYDIRECTIONWITHOUTANYREORIENTATION”2THENEEDTOREORIENTTHEWHEELSORNOTPRIORTOIMPLEMENTINGANYDESIREDLINEARVELOCITYISRELATEDTOTHEPRESENCEORNOTOFNONHOLONOMICCONSTRAINTS3,4SINCETHEEARLYSTUDYOFAGULLOETAL5,THEKINEMATICSANALYSISOFSWEDISHORMECANUMWHEELROBOTSHASBEENADDRESSEDINSEVERALPAPERS6–12ALLTHESEEXCEPTTHESTUDYOFAGULLOETAL5ANDSAHAETAL9CONSIDEREITHERTHREEORFOURSWEDISHWHEELEDROBOTSFORSOMEVALUEOFΓONEOFTHEOBJECTIVESOFTHISPAPERISTODERIVE,INTHEMOSTGENERALSETTINGOFNSWEDISHWHEELSWITHFIXEDBUTARBITRARYROLLERWHEELANGLE,NECESSARYANDSUFFICIENTGEOMETRICALCONDITIONSONRELATIVEWHEELARRANGEMENTTHATGUARANTEE1THEABSENCEOFSINGULARITIESAND2THEPOSSIBILITYOFDECOUPLINGCOMMANDEDLINEARANDANGULARROBOTVELOCITIESTHISKINDOFINFORMATIONCANBEMOSTVALUABLETOGUIDETHEDESIGNOFTHEROBOTAPRIORITHERESULTSOBTAINEDADDRESSINGTHENWHEELCASE,BESIDESREALIZINGATONCEAUNIFIEDANALYSISOFTHEMOSTCOMMONTHREEANDFOURWHEELDESIGNS,ALLOWTOEASILYEXPLORE,FOREXAMPLE,POSSIBLESIXWHEELDESIGNSTHATHAVEALARGEINTERESTINTHEFIELDOFOUTDOORANDROUGHTERRAINAPPLICATIONS14ASASIDERESULTOFTHEPROPOSEDANALYSIS,ALLPOSSIBLEKINEMATICSSINGULARITIESOCCURRINGASAFUNCTIONOFTHEROLLER–WHEELANGLEANDWHEELARRANGEMENTCANBEIDENTIFIEDMOREOVER,BUILDINGONWELLKNOWNMETHODS,THETRAJECTORYTRACKINGANDPOSEREGULATIONPROBLEMSARESOLVEDFORTHESESYSTEMSTAKINGEXPLICITLYINTOACCOUNTACTUATORVELOCITYSATURATIONTHEPAPERISORGANIZEDASFOLLOWSTHEGENERALKINEMATICSMODELFORANNSWEDISHWHEELEDVEHICLEISDERIVEDINSECTIONIITHEGUIDANCETRAJECTORYTRACKINGANDPOSEREGULATIONCONTROLPROBLEMSINTHEPRESENCEOFACTUATORVELOCITYSATURATIONAREADDRESSEDINSECTIONIIIEXPERIMENTALRESULTSAREREPORTEDINSECTIONIVATLAST,SOMECONCLUDINGREMARKSAREADDRESSEDINSECTIONVIIKINEMATICSMODELWITHREFERENCETOFIG2,FORTHESAKEOFINTRODUCINGTHENOTATION,ATHREEWHEELOMNIDRIVEMO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