簡(jiǎn)介：中文中文5790字出處出處ELECTRONICS,ROBOTICSANDAUTOMOTIVEMECHANICSCONFERENCE,2009CERMA09IEEE,2009187192AXEBOTROBOTTHEMECHANICALDESIGNFORANAUTONOMOUSOMNIDIRECTIONALMOBILEROBOTTIAGOPDONASCIMENTO,AUGUSTOLOUREIRODACOSTA,CRISTIANECORREAPAIMPOSTGRADUATIONPROGRAMINELECTRICALENGINEERINGUNIVERSIDADEFEDERALDABAHIASALVADOR,BAHIA,BRASILTIAGOPNIEEEORG,AUGUSTOLOUREIROUFBABR,CPAIMUFBABRABSTRACTTHEAXEBOTROBOT’SMECHANICALDESIGN,AFULLYAUTONOMOUSMOBILEROBOT,FORTHEROBOCUPSMALLSIZELEAGUE,ISPRESENTEDINTHISPAPERTHEAXEBOTROBOTUSESTHREEOMNIDIRECTIONALWHEELSFORMOVEMENTANDISEQUIPPEDBYASHOOTINGDEVICEFORSHOOTINGTHEBALLINDIFFERENTDIRECTIONSONCETHEAXEBOTROBOTISAFULLYAUTONOMOUSMOBILEROBOTALLTHESENSORS,ENGINES,SERVOS,BATTERIES,ANDTHECOMPUTERSYSTEM,MUSTBEEMBEDDEDONTHEPROJECTCANBESEPARATEDINFOURDIFFERENTPARTSTHECHASSISDESIGN,THEWHEELDESIGN,THESHOOTINGDEVICEDESIGNANDTHEOVERALLASSEMBLYWHICHMAKESASHELLDESIGNPOSSIBLETOCOVERTHEWHOLEROBOTTHEAXEBOTMECHANICALDESIGNBRINGSUPANEWCHASSISCONCEPTFORTHREEWHEELSOMNIDIRECTIONALROBOT,ALSOPRESENTANEWSHOOTINGDEVICE,ANDFINALLYPRESENTAXEBOTSPROTOTYPEASSEMBLY1INTRODUCTIONTHEROBOCUPINITIATIVEISANINTERNATIONALRESEARCHGROUPWHOSEAIMSARETOPROMOTETHEFIELDSOFROBOTICSANDARTIFICIALINTELLIGENCEASTANDARDCHALLENGE,ASOCCERMATCHPERFORMEDBYAUTONOMOUSROBOTTEAMS,WASPROPOSEDIN19961INITIALLYWITHTHREEDIFFERENTLEAGUES2DROBOTSOCCERSIMULATIONLEAGUE,SMALLSIZEROBOTLEAGUE,ANDMIDDLESIZEROBOTLEAGUENOWADAYSTHESELEAGUESHAVEBEENINCREASEDUPTOFOURLEGGEDLEAGUE,HUMANOIDLEAGUE,MIDDLESIZELEAGUE,ROBOCUPJUNIORSOCCER,SMALLSIZELEAGUE,SOCCERSIMULATION,STANDARDROBOTLEAGUEALSO,ANOTHERCHALLENGE,THEROBOCUPRESCUEWASPROPOSEDIN1999TOSHOWTHATTHERESULTFROMTHEROBOTSOCCERRESEARCHCOULDBEDIRECTLYAPPLIEDONAREALWORLDPROBLEMLIKEADISASTERRESCUEMADEBYROBOTSTHROUGHTHEINTEGRATIONOFTECHNOLOGYANDADVANCEDCOMPUTERALGORITHMS,THEGOALOFROBOCUPISTOBUILDATEAMOFHUMANOIDROBOTSTHATCANBEATTHECURRENTWORLDCUPCHAMPIONSBYTHEYEAR2050THEAXEBOTUSESTHREEOMNIDIRECTIONALWHEELS,POSITIONEDONACIRCLEWITHANANGLEOF120OAMONGEACHWHEEL,TOMOVEINDIFFERENTDIRECTIONSTHREEMAXXONA22MOTORSAREUSEDTODRIVETHEOMNIDIRECTIONALWHEELS,ONEMOTORPERWHEELTHESEMOTORSARECONTROLLEDBYTWOBRAINSTEMMOTO10ANDACASCADECONTROLLERMADETOCONTROLTHEROBOTTRAJECTORY23THEAXEBOTALSOHOLDSASHOOTINGDEVICETOKICKTHEBALLINGETASTIFFERANDSTRONGERCHASSIS,ASECONDCHASSISPART,THEUPPERCHASSIS,ISMODELEDTHISISALMOSTANEXACTCOPYOFTHEFIRSTPART,ONLYNOWTHEREARE3CUTOUTSTHATPROVIDEMORESPACEFORPLACINGTHECOMPONENTSOFTHEROBOTTHESECUTOUTSALSOSAVESOMEMATERIALANDTHEREFOREWEIGHTTHEBOTHPARTSARETHISSANDWICHCONSTRUCTIONGIVESTHEWHOLECHASSISMORESTIFFNESS,ANDSOTHETOTALTHICKNESSOFBOTHTHECHASSISCANPROBABLYBELOWERTHANUSINGONECHASSISPARTFIGURE1LOWERCHASSISFIGURE2UPPERANDLOWERCHASSISATTACHEDTOEACHOTHER23CHASSISMOULDTOBUILDTHESEPARTS,AMOULDWASMADETHISISJUSTANEGATIVEOFTHEACTUALROBOTPARTSINFIGURE3THEMOULDOFTHEUPPERCHASSISTOCHANGETHISMOULDINTHEMOULDFORTHELOWERCHASSIS,WHERETHEGROUNDPLATEDOESNOTHAVEHOLES,THEINDICATEDPIECESWITHWHITESTRIPESANDTHENOTINDICATEDLEFTPIECESYMMETRICTOTHEMOSTRIGHTPARTSHOULDBELOWERED4MMFORTHEUPPERANDLOWERCHASSIS,THEBASISMOULDISEXACTLYTHESAMEONLYPIECEONEANDTWOAREDIFFERENTFORTHETWOCHASSIS,THEMOTORPIECEANDTHESHOOTINGSYSTEMPIECEARETHESAMEFIGURE3CHASSISMOULD3WHEELSTHEAXEBOTROBOTISEQUIPPEDWITHTHREEWHEELSPOSITIONEDONACIRCLEWITHANANGLEOF120°AMONGATTACHEDTOEACHOTHERASSHOWNINTHEPICTUREBELOWEACHWHEELTHESEWHEELSHAVETOENABLETHEOMNIDIRECTIONALITYOFTHEAXEBOTROBOTTHISMEANSTHATTHEWHEELSHAVETOBEABLETOLETTHEROBOTMAKETWOTRANSLATIONALMOVEMENTSINXANDYDIRECTION,SEEFIGURE4WITHOUTROTATINGTHEROBOTAROUNDITSZAXISTHEAXISPERPENDICULARTOTHEYANDXAXIS,THATISROTATIONINFIGURE4THEWHEELSHAVEALSOTOENABLEAROTATIONOFTHETOTALROBOTAROUNDTHEZAXIS
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