2. 结构说明

R313a样机主要是由R313c样机上安装一个 舵机关节模组 组成。

三轮全向底盘采用全向福来轮作为执行轮，全向福来轮由主轮和副轮组成，主轮和副轮成垂直分布。三个轮成正三角形分布，两两夹角120度，这种结构使得全向底盘运动灵活、可以在平面内任意方向平移。

三轮全向底盘的全向移动需要三个轮之间的相互配合，具体运动方向和各个轮的转向如下图所示：

3. 三轮全向底盘的运动学逆解分析

我们先做一些必要的前提假设：

① 全向底盘质量分布均匀，每个轮子的大小和质量相同；

② 三个全向轮到中心的距离相等，且两两夹角为120度；

③ 全向底盘不会出现打滑。

三轮全向底盘绘图的参考例程（USER\test.uvprojx）如下，下面是主程序main.c：

/*------------------------------------------------------------------------------------版权说明：Copyright 2023 Robottime(Beijing) Technology Co., Ltd. All Rights Reserved.Distributed under MIT license.See file LICENSE for detail or copy athttps://opensource.org/licenses/MITby 机器谱 2023-03-10 https://www.robotway.com/------------------------------*/#include "sys.h"#include "led.h"#include "usart.h"#include "delay.h"#include "math.h"#include "stdio.h"#include "string.h"#include "stdlib.h"#include "a4988.h"#include "pwm.h"#include "key.h"#include "oled.h"#include "stdbool.h"int main(void){NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);//设置系统中断优先级分组2delay_init(168);//初始化延时，168为CPU运行频率usart_init(9600); //串口初始化usart3_init(9600);LED_Init();//LED灯初始化Stepper_Motor_Init(0); //步进电机引脚初始化KEY_Init();OLED_Init(1);delay_ms(1000);TIM4_PWM_Init(20000-1,84-1);Put_Up();delay_ms(1500);int receive_touch[2] = {0,0};bool Flags_draw = false;OLED_Clear();OLED_ShowString(30,3,(unsigned char*)"Wait...",16);while(1){if(touch_keys(1) == 1){delay_ms(350);receive_touch[0] += 1;Flags_draw = false;}if(touch_keys(2) == 1){if(Flags_draw){receive_touch[1] = 0;}else{delay_ms(350);receive_touch[1] = 1;}}if(receive_touch[0]==1){//printf("data:%d",receive_touch[0]);OLED_Clear();OLED_ShowString(0,0,(unsigned char*)"Sin",16);if(receive_touch[1] == 1){OLED_Clear();OLED_ShowString(0,0,(unsigned char*)"Sin",16);OLED_ShowString(0,4,(unsigned char*)"Start",16);receive_touch[1]=0;delay_ms(1000);Put_Down();delay_ms(1000);drawSin();Put_Up();delay_ms(1000);}}if(receive_touch[0]==2){//printf("data:%d",receive_touch[0]);OLED_Clear();OLED_ShowString(0,0,(unsigned char*)"Triangle",16);if(receive_touch[1] == 1){OLED_Clear();OLED_ShowString(0,0,(unsigned char*)"Triangle",16);OLED_ShowString(0,4,(unsigned char*)"Start",16);receive_touch[1]=0;Put_Down();delay_ms(1000);drawTriangle();Put_Up();delay_ms(1000);}}if(receive_touch[0]==3){//printf("data:%d",receive_touch[0]);OLED_Clear();OLED_ShowString(0,0,(unsigned char*)"Rect",16);if(receive_touch[1] == 1){//receive_touch[0]=0;OLED_Clear();OLED_ShowString(0,0,(unsigned char*)"Rect",16);OLED_ShowString(0,4,(unsigned char*)"Start",16);receive_touch[1]=0;Put_Down();delay_ms(1000);drawRect();Put_Up();delay_ms(1000);}}if(receive_touch[0]==4){OLED_Clear();OLED_ShowString(0,0,(unsigned char*)"ThreeLeaf",16);if(receive_touch[1] == 1){OLED_Clear();OLED_ShowString(0,0,(unsigned char*)"ThreeLeaf",16);OLED_ShowString(0,4,(unsigned char*)"Start",16);receive_touch[1]=0;//Put_Down();delay_ms(1000);drawThreeLeaf();Put_Up();delay_ms(1000);}}if(receive_touch[0]==5){OLED_Clear();OLED_ShowString(8,3,(unsigned char*)"Draw Line End",16);receive_touch[0]=0;receive_touch[1]=0;Flags_draw = true;}}}

三轮全向底盘绘制三角形、矩形、三叶草、正弦曲线的详细例程可下载文末资料获取。

6. 资料下载