本科毕业设计·论文摘要作为移动小车而开发的移动机构种类已相当繁多，仅就地面移动而言，移动机构就有车轮式、履带式、腿脚式、躯干式等多种形式，适应了各种工作环境的不同要求。全向移动小车的全方位轮具有平面内三个自由度，可同时独立的前后、左右和原地旋转运动，可在不改变自身位姿的情况下向任意方向移动。借助于横向移动和原地回旋的特性，全方位运动平台还可方便的穿梭于狭窄拥挤空间中，灵活完成各种任务，相比传统移动平台有明显优势。本综述论文首先分析了全向移动小车在国内外的研究简史与应用现状；对现使用较为广泛的全向轮进行综述对比；重点对当前主流轮式全向移动小车按照其机械结构、硬件模块、软件分析进行分类整理，总结论述了全向移动小车的三种控制方式；最后对全文进行归纳总结，展望了轮式全向移动小车的发展方向。本综述论文在借鉴国内外的研究成果上，较为完善的总结了全向移动小车体系结构，为以后深入研究轮式全向移动平台的广泛应用提供理论参考依据。关键字：麦克纳姆轮；全方位移动小车；车底安全检查I本科毕业设计·论文Reviewofwheeledomni-directionalmobilevehiclearchitectureStudent：CHENFeng-junTeacher：XUJian-yuAbstract：Asthedevelopmentofmovingmobilecartypesofinstitutionshasbeenquiteextensive,onlythegroundmoving,themovingmechanismhadwheels,crawler,legs,torsoandsoon,adaptedtothedifferentrequirementsofvariousworkenvironments.Movedcarfullomni-directionalwheelhavingaplaneofthethreedegreesoffreedom,whichcanseparatefront,left,androtationalmovementinsitu,canbemadewithoutchangingtheirpostureinthecasemoveinanydirection.Insitubymeansofmaneuverandlateralmovementcharacteristics,full-motionplatformcanbeeasilyshuttleinthenarrow,flexible,completeavarietyoftasks,comparedtotraditionalmobileplatformhasobviousadvantages.Thisreviewanalyzestheomni-directionalmobilecarathomeandabroadBriefHistoryofResearchandApplicationStatus;rightnowthemorewidelyusedomni-directionalwheelsummarizedcomparison;focusingonthecurrentmainstreamwheeledomni-directionalmobilecaraccordingtoitsmechanicalstructure,hardwaremodules,softwareanalysiscarryoutclassifycollate,summarizediscussestheomni-directionalmobiletrolley'sthreekindscontrolmode;Finallypairsoffull-textcarryonsummarized,prospectedwheeledomni-directionalmobilecardirectionofdevelopment.Thisreviewpaperdrawingontheresearchresultsathomeandabroad,themoreperfectsummaryofthewholearchitectureofthemobilecarforfuturein-depthstudywheeledomni-directionalmobileplatformwidelyusedtolayagoodfoundation.Keywords:Mecanumwheel;omni-directionalmobilerobot;vehiclesafetyinspectionII本科毕业设计·论文目次摘要.........................................................................................................................IAbstract....................................................................................................................................II1引言.........................................................................................................................11.1课题研究的背景和意义.....................................................11.2课题研究的主要内容和工作.......................................12全向移动小车研究简史与应用现状............................22.1国外研究................................................................................................22.2国内研究................................................................................................22.3应用现状................................................................................................32.4本章小结.......
