欢迎来到人人文库网! | 帮助中心 人人文库renrendoc.com美如初恋!
人人文库网
首页 人人文库网 > 资源分类 > PDF文档下载

外文翻译--设计及建模的一个多余全方位机器人杯守门员 英文版.pdf

  • 资源大小:324.58KB        全文页数:6页
  • 资源格式: PDF        下载权限:游客/注册会员/VIP会员    下载费用:5
游客快捷下载 游客一键下载
会员登录下载
下载资源需要5

邮箱/手机号:
您支付成功后,系统会自动为您创建此邮箱/手机号的账号,密码跟您输入的邮箱/手机号一致,以方便您下次登录下载和查看订单。注:支付完成后需要自己下载文件,并不会自动发送文件哦!

支付方式: 微信支付    支付宝   
验证码:   换一换

友情提示
2、本站资源不支持迅雷下载,请使用浏览器直接下载(不支持QQ浏览器)
3、本站资源下载后的文档和图纸-无水印,预览文档经过压缩,下载后原文更清晰   

外文翻译--设计及建模的一个多余全方位机器人杯守门员 英文版.pdf

DESIGNANDMODELINGOFAREDUNDANTOMNIDIRECTIONALROBOCUPGOALIELANCEWILSON,CRAIGWILLIAMS,JUSTINYANCE,JAELEW,ROBERTLWILLIAMSIIDEPARTMENTOFMECHANICALENGINEERINGOHIOUNIVERSITY,ATHENS,OHIO,USAPAOLOGALLINADEPARTMENTOFINNOVATIONINMECHANICSANDMANAGEMENTUNIVERSITYOFPADOVA,ITALYABSTRACTTHISPAPERCOVERSTHEMECHANICALDESIGNANDMODELINGOFAREDUNDANTOMNIDIRECTIONALMOBILEROBOTDEVELOPEDFORTHEOHIOUNIVERSITYROBOCUPGOALIETHEGOALIEROBOTISACTUATEDREDUNDANTLYWITHFOURWHEELSFORGOODMOBILITYINTHEPAPER,FIRSTTHEOVERALLMECHANICALDESIGNOFTHESYSTEMISDISCUSSEDSECOND,THEINVERSEKINEMATICSSOLUTIONISOBTAINEDUSINGTHEPRINCIPLEOFVIRTUALWORKTHIRD,DYNAMICEQUATIONSOFMOTIONOFTHESYSTEMAREDERIVEDINASYMBOLICFORMRESULTINGINCOUPLEDNONLINEARDIFFERENTIALEQUATIONSFINALLY,ASIMULATIONDEMONSTRATESTHEINVERSEKINEMATICSSOLUTIONANDSIMPLEINDEPENDENTPDWHEELCONTROLOFOURREDUNDANTOMNIDIRECTIONALGOALIEROBOT1INTRODUCTIONOMNIDIRECTIONALDRIVEISTHEABILITYTOMOVEINANYDIRECTION0TO360DEGREESATANYGIVENORIENTATIONUSINGTHISTYPEOFDRIVESYSTEMENABLESAROBOTTOMOVEINAGIVENDIRECTIONWHILEBEINGABLETOROTATEDURINGLINEARTRAVELTIMEISSAVEDBYELIMINATINGTHENEEDTOROTATETHEROBOTBEFORETRANSLATINGFROMPOINTATOPOINTBOMNIDIRECTIONALDRIVEGIVESTHEGOALIEROBOTTHEABILITYTOALWAYSFACETHEBALLWHILEBEINGABLETOMOVEINANYDIRECTIONINADDITION,ITPROVIDESSIMPLERINVERSEKINEMATICSSOLUTIONFORPATHPLANNINGFORTHESEREASONS,MANYRESEARCHGROUPSARESTUDYINGOMNIDIRECTIONALHOLONOMICMOBILEROBOTSANDVEHICLES15THEOHIOUNIVERSITYOUROBOCUPTEAMINCORPORATESTHEOMNIDIRECTIONALDRIVEINTOTHEIRMOBILEROBOTSTHEOUROBOCUPTEAMCONSISTSOF4PLAYERSAND1GOALIE;THEPLAYERSANDGOALIEEACHHAVESEPARATEMECHANICAL,ELECTRICAL,ANDSOFTWAREDESIGNINORDERTOMEETDIFFERENTPERFORMANCESPECIFICATIONSFOREXAMPLE,THEPLAYERSAREDESIGNEDTOOPTIMIZEFORWARDMOTION,WHILETHEGOALIEISDESIGNEDTOOPTIMIZESIDETOSIDEMOTIONTHISPAPERWILLFOCUSONTHEMECHANICALDESIGN,DYNAMICMODELING,ANDSIMULATIONOFTHEREDUNDANT,OMNIDIRECTIONALROBOCUPGOALIE2DESIGNTHEDESIGNFORTHEGOALIEHASTWOMAINFUNCTIONSTHEMAJORFUNCTIONISTOHAVETHEABILITYTOQUICKLYMOVESIDETOSIDETOGUARDTHEGOALTHISHASBEENACCOMPLISHEDBYHAVINGTHEWHEELSALIGNEDHORIZONTALLYFORQUICKMOVEMENTTHEOTHERFUNCTIONISTHEKICKINGOFTHEBALLTHECURRENTDESIGNNOTONLYALLOWSFORASTRONGKICKBUTALSOTHEABILITYTOCATCHINGBALLUNDERCONTROL21CONSTRAINTSINORDERTOCOMPETEINTHEROBOCUPTOURNAMENT,ROBOTSHAVETOMEETSPECIFIEDSIZECONSTRAINTSTHEGOALIEROBOTCANBENOTALLERTHAN225CMIFLOCALVISIONISTOBEUSED,ANDMUSTFITWITHINA18CMDIAMETERCYLINDERANYPARTTHATMAYEXTENDOUTWARDONTHEROBOTMUSTBEFULLYEXTENDEDWHENPLACEDINSIDETHE18CMCYLINDERTHESESIZECONSTRAINTSGREATLYLIMITTHEARRANGEMENTOFDRIVEANDKICKINGSYSTEMSKICKINGANDDRIVESYSTEMSARERECTANGULARINSHAPEANDDESIGNINGALAYOUTTOMEETTHEROBOTSIZECONSTRAINTSRESULTSIN“WASTEDSPACE”AROUNDTHESESYSTEMS22PERFORMANCESPECIFICATIONTHROUGHTESTINGVARIOUSRADIOCONTROLLEDTOYCARS,EXPERIMENTSWEREPERFORMEDTOBETTERVISUALIZEWHATKINDOFPERFORMANCEWEDESIREFORTHEGOALIEROBOTHIGHVALUEWASPLACEDONMAKINGTHEROBOT“ZIPPY”WHICHMEANSITCANMOVEORCHANGEDIRECTIONQUICKLYBUTDOESN’THAVEAHIGHMAXIMUMVELOCITYANACCELERATIONOF2M/SEC2ANDAMAXIMUMVELOCITYOF1M/SECWERETHEPERFORMANCESPECIFICATIONSDECIDEDUPONFORTHEGOALIE’SLOCOMOTIONTHEKICKINGMECHANISMUSEDONTHEGOALIENEEDEDTOBEPOWERFULENOUGHTOPROPELTHEBALLATLEASTHALFTHELENGTHOFTHEPLAYINGFIELDCONTROLLINGTHEKICKINGPOWERISACCOMPLISHEDBYUSINGAVARIABLESPEEDMOTORONTHEKICKINGMECHANISMONEADVANTAGEOFTHEGOALIEISTHEABILITYTOCAPTURETHEBALLANDCOMPLETELYENCLOSEITENCLOSINGTHEBALLANDHIDINGITFROMOPPOSINGROBOTSOPERATINGONTHEGLOBALVISIONSYSTEMCANLEADTOCONFUSIONIFTHEYCANNOTLOCATETHEBALL23LAYOUTTHEGOALIELAYOUTCONSISTSOFTHEDRIVESYSTEMANDKICKINGMECHANISMFIGURE1TOMAINTAINTRACTIONONTHEDRIVEWHEELS,THEROBOTCENTEROFMASSSHOULDBELOCATEDONTHECENTRALAXESOFTHEDRIVEWHEELSFOURWHEELSAREBEINGUSEDTODRIVETHEROBOTOMNIDIRECTIONALLYKEEPINGTHEGOALIE’SCENTEROFMASSNEARTHESEAXESBECOMESDIFFICULTONCETHEKICKERMECHANISMISADDEDTOTHESYSTEMTHEKICKERMECHANISMSHIFTSTHECENTEROFMASSTOWARDTHECENTEROFTHEROBOT,WHICHCANCAUSETHEREARWHEELTOSLIPSHIFTINGTHECENTEROFMASSTOCOMPENSATEFORTHEWEIGHTOFTHEKICKERCANBEACCOMPLISHEDTHROUGHSHIFTINGBATTERYPOSITIONSTOWARDTHEREAROFTHEROBOTFIGURE1OUGOALIEACADMODELBHARDWAREPHOTOGRAPHTHEREARE6MOTORSUTILIZEDINTHEROBOTASSEMBLYFOURAREPLACEDINTHEWHEELASSEMBLYTODRIVEWHEELSONEISINKICKERASSEMBLYANDROTATESTHEDRIVEBARTHEREISALSOASERVOMOTORASSOCIATEDWITHTHEKICKERASSEMBLY24OMNIDIRECTIONALDRIVETHEKORNYLAKCORPORATIONMANUFACTURESTHEOMNIWHEELTHATAPPEARSINFIGURE2ATOMINIMIZEWHEELWIDTH,THEORIGINALOMNIWHEELISMODIFIEDBYREMOVINGMATERIALFROMTHECENTERANDOUTERFACESREMOVALOFMATERIALALSOALLOWEDROOMTOINSERTAFABRICATEDHUBTOBEUSEDFORGEARMOUNTINGFIGURE2BSHOWSTHEMODIFIEDWHEELMOUNTEDTOANALUMINUMHUBFIGURE2AKORNYLAKOMNIWHEELBMODIFIEDOMNIWHEEL25KICKING/DRIBBLING/CAPTURINGMECHANISMTHEKICKINGMECHANISM,FIGURE3,ISSTRUCTUREDAROUNDONEBASICPRINCIPLE,CAPTURINGTHEBALLITHASTHEABILITYTOROTATEAROUNDAPIVOTPOINTWITHTHISROCKINGMOTIONCONTROLLEDBYASERVOMOTORTHESERVOMOTORISLOCATEDONTHEGOALIEBASEANDTHUSISSTATIONARYWITHRESPECTTOTHEKICKERDURINGTHEGAMETHEGOALIEWILLBELOCATEDNEARTHEGOALWITHITSDRIVEBARROTATINGBACKWARDSTHEDRIVEBARWILLBEENCASEDINRUBBERTUBINGINITIALLYTHEKICKINGMECHANISMWILLBEATITSHIGHESTPOINTINTHEARCWHENTHEBALLGETSNEARTHEKICKERTHEDRIVEBARWILLCAPTURETHEBALLVIABACKSPINATTHISTIMETHEBALLWILLBEROTATINGBETWEENTHEDRIVEBARANDTHEIDLERBAR,LOCATEDUNDERNEATHTHEROBOTBEINGUNDERNEATHTHEROBOTWILLCAUSETHEBALLTOBEHIDDENFROMTHEGLOBALCAMERATHEDRIVEBARWILLTHENREVERSEDIRECTIONANDCAUSETHEBALLTOSPININTHEOPPOSITEDIRECTIONBETWEENTHETWOBARSAFTERTHEBALLGAINSASUFFICIENTAMOUNTOFFORWARDROTATIONTHEKICKINGMECHANISMWILLBEROCKEDBACKEDTHESERVOMOTORTHISWILLALLOWTHEBALLTOBERELEASEDWHILEHAVINGTOPSPINAFTERRELEASINGTHEBALLTHEKICKINGMECHANISMWILLBEBROUGHTUPTOITSHIGHESTPOSITIONINTHEROTATINGARCBYTHESERVOMOTORTOWAITFORTHENEXTBALLFIGURE3CLOSEUPOFKICKERASSEMBLY3MODELINGTHEDYNAMICEQUATIONSFORTHEFOURWHEELEDOHIOUNIVERSITYROBOCUPGOALIEISDERIVEDFROMTHEMODELSHOWNINFIGURE4,SIMILARTO1ITISASSUMEDTHEMOBILEROBOTISMOVINGONAHORIZONTALPLAYINGFIELDASITISSHOWN,THEINERTIALCOORDINATEFRAMEXWYWISFIXEDONTHEPLANEANDTHEMOVINGCOORDINATEFRAMEXMYMISATTACHEDTOTHEMASSCENTEROFTHEMOBILEROBOTLIISTHEDISTANCEFROMTHEMASSCENTERTOTHECENTEROFTHECORRESPONDINGWHEELFISTHEORIENTATIONOFTHEMOBILEROBOTWITHRESPECTTOWSASPREVIOUSLYSTATEDTHISROBOTISOMNIDIRECTIONAL,GIVINGUSNONONHOLONOMICCONSTRAINTEQUATIONSALSO,ITISIMPORTANTTOPOINTOUTTHATTHEOUROBOCUPGOALIEHASTHREEDEGREESOFFREEDOM,BUTHASFOURACTUATORSMEANINGTHATTHESYSTEMISREDUNDANTLYACTUATEDFIRST,WEDEFINETHEPOSITIONANDFORCEVECTORSOFTHEMASSCENTERFORTHEOUROBOCUPGOALIEINTHEABSOLUTECOORDINATEFRAMEAS{}{}TGYXWTWWWMFFFYXSF1FIGURE4KINEMATIC/FREEBODYDIAGRAMWHEREMGISTHETORQUEAPPLIEDTOTHEROBOTTHEFOLLOWINGTWOEQUATIONSRELATECARTESIANPOSEANDWRENCHFORTHEMOVINGANDINERTIALFRAMESFRFSRSMWMWMWMW2,3WHERETHECOORDINATEROTATIONMATRIXRWMREPRESENTSTHEINERTIALFRAMEWITHRESPECTTOTHEORIENTATIONOFTHEMOVINGFRAMETHEPOSEANDWRENCHVECTORSOFTHEGOALIEINTERMSOFTHEMOVINGCOORDINATESARE{}{}TGYXMTMMMMFFFYXSFAPPLYINGNEWTON’S2NDLAWSMFWW4WHEREMISAPOSITIVEDEFINITEDIAGONALMATRIXWITHTHEMOBILEROBOTSMASSMONTHEDIAGONALEQUATION4CANBEREWRITTENINTERMSOFTHEMOVINGCOORDINATESUSINGEQUATIONS13FSSRRMMMMWMTWM5SIMPLIFYINGEQUATION5,THEDYNAMICEQUATIONSOFTHEROBOTAREGMYMMXMMMIFXYMFYXM−FFF6,7,8WHEREIMISTHEMASSMOMENTOFINERTIAFORTHEMOBILEROBOTTOCOMPUTETHERELATIONSHIPBETWEENTHEROBOTCARTESIANCOORDINATESANDTHEWHEELANGLES,THEPRINCIPLEOFVIRTUALWORKISUSEDSUMMINGTHEFORCESANDMOMENTSGIVES9WHEREQISTHEJACOBIANMATRIXBASEDUPONTHESYSTEMGEOMETRY,ANDTIISTHETRACTIONFORCEFROMEACHWHEELSINCETHEVIRTUALWORKDONEISSAMEFORTHEWHEELANDCARTESIANCOORDINATES,WEWRITESFQTMTMT10WHEREISTHEVELOCITYOFTHEWHEELROLLINGCONTACTPOINTASSUMINGTHATTHEREISNOSLIPINTHEWHEELSPINDIRECTIONIE{}TRRRQ321WWWTHUS,WECANOBTAINTHEINVERSEKINEMATICSSOLUTIONOFTHEOUROBOCUPGOALIEFROMEQUATIONS9AND10GIVENTHECARTESIANVELOCITY,WEMAYFINDTHEWHEELANGULARVELOCITIES1144332211LXRLYRLXRLYRMMMM−−FWFWFWFW12,13,14,15WHERERISTHEWHEELRADIUSANDWIISTHEWHEELROTATIONALRATETHEWHEELDYNAMICSFOREACHASSEMBLYASGIVENBY1AREASFOLLOWSIIIIWRTKUCI−WWI1,2,3,416WHEREIWISTHEMASSMOMENTOFINERTIAFORTHEOMNIWHEEL,CISTHEVISCOUSFRICTIONFACTOROFTHEOMNIWHEEL,KISTHEDRIVINGGAINFACTORORTHEGEARRATIO,ANDUIISTHEDRIVINGINPUTTORQUETHENCOMBININGEQUATIONS616WEHAVETHEFOLLOWINGEQUATIONSOFMOTIONWRITTENINMATRIXVECTORFORMSQQMTTQFTTTTLLLLMFFMGYXOR0101101043214321−−

注意事项

本文(外文翻译--设计及建模的一个多余全方位机器人杯守门员 英文版.pdf)为本站会员(英文资料库)主动上传,人人文库网仅提供信息存储空间,仅对用户上传内容的表现方式做保护处理,对上载内容本身不做任何修改或编辑。 若此文所含内容侵犯了您的版权或隐私,请立即通知人人文库网(发送邮件至[email protected]或直接QQ联系客服),我们立即给予删除!

温馨提示:如果因为网速或其他原因下载失败请重新下载,重复下载不扣分。

关于我们 - 网站声明 - 网站地图 - 资源地图 - 友情链接 - 网站客服客服 - 联系我们

网站客服QQ:2846424093    人人文库上传用户QQ群:460291265   

[email protected] 2016-2018  renrendoc.com 网站版权所有   南天在线技术支持

经营许可证编号:苏ICP备12009002号-5