axebot機器人：全方位自主移動機器人的機械設(shè)計畢業(yè)論文外文翻譯

1、中文 中文 5790 字出處： 出處：Electronics, Robotics and Automotive Mechanics Conference, 2009. CERMA'09. IEEE, 2009: 187-192AxeBot Robot: The Mechanical Design for an Autonomous Omni directional Mobile RobotTiago P. do Nascime

2、nto, Augusto Loureiro da Costa, Cristiane Correa Paim Post-graduation Program in Electrical EngineeringUniversidade Federal da BahiaSalvador, Bahia, Brasiltiagopn@ieee.org, augusto.loureiro@ufba.br, cpaim@ufba.brAbstract

3、 The AxeBot robot’s mechanical design, a fully autonomous mobile robot, for the RoboCup Small Size League, is presented in this paper. The AxeBot robot uses three omnidirectional wheels for movement and is equipped by a

4、shooting device for shooting the ball in different directions. Once the AxeBot robot is a fully autonomous mobile robot all the sensors, engines, servos, batteries, and the computer system, must be embedded on. The pro

5、ject can be separated in four different parts: the chassis design, the wheel design, the shooting device design and the overall assembly which makes a shell design possible to cover the whole robot. The AxeBot mechanica

6、l design brings up a new chassis concept for three wheels omnidirectional robot, also present a new shooting device, and finally present AxeBots prototype assembly. 1. Introduction The RoboCup Initiative is an interna

7、tional research group whose aims are to promote the fields of Robotics and Artificial Intelligence. A standard challenge, a soccer match performed by autonomous robot teams, was proposed in 1996 [1]. Initially with thr

8、ee different leagues 2D: Robot Soccer Simulation league, Small Size Robot league, and Middle Size Robot league. Nowadays these leagues have been increased up to: Four-Legged League, Humanoid League, Middle Size League,

9、 RoboCup Junior Soccer, Small Size League, Soccer Simulation, Standard Robot League. Also, another challenge, the RoboCup Rescue was proposed in 1999 to show that the result from the robot soccer research could be direc

10、tly applied on a real world problem like a disaster rescue made by robots. Through the integration of technology and advanced computer algorithms, the goal of RoboCup is to build a team of humanoid robots that can beat

11、 the current World Cup champions by the year 2050. The AxeBot uses three omnidirectional wheels, positioned on a circle with an angle of 120o among each wheel, to move in different directions. Three Maxxon A-22 motors

12、are used to drive the omnidirectional wheels, one motor per wheel. These motors are controlled by two Brainstem Moto 1.0 and a cascade controller made to control the robot trajectory [2] [3]. The AxeBot also holds a sh

13、ooting device to kick the ball in get a stiffer and stronger chassis, a second chassis part, the upper chassis, is modeled. This is almost an exact copy of the first part, only now there are 3 cutouts that provide mor

14、e space for placing the components of the robot. These cutouts also save some material and therefore weight. The both parts are This sandwich construction gives the whole chassis more stiffness, and so the total thickn

15、ess of both the chassis can probably be lower than using one chassis part. Figure 1: Lower chassis Figure 2: Upper and lower chassis attached to each other 2.3. Chassis mould To build these parts, a mould was made. This

16、is just a negative of the actual robot parts. In figure 3 the mould of the upper chassis. To change this mould in the mould for the lower chassis, where the ground plate does not have holes, the indicated pieces (with w

17、hite stripes) and the not indicated left piece (symmetric to the most right part) should be lowered 4 mm. For the upper and lower chassis, the basis mould is exactly the same. Only piece one and two are different for th

18、e two chassis, the motor piece and the shooting system piece are the same. Figure 3: Chassis mould3. Wheels The AxeBot robot is equipped with three wheels positioned on a circle with an angle of 120° among attached

19、to each other as shown in the picture below.each wheel. These wheels have to enable the omnidirectionality of the AxeBot robot. This means that the wheels have to be able to let the robot make two translational movement

20、s (in x and y-direction, see figure 4) without rotating the robot around its z-axis (the axis perpendicular to the y and x-axis, that is rotation in figure 4). The wheels have also to enable a rotation of the total ro