外文翻译---瑞典轮式全方位移动机器人英文版

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1、164IEEETRANSACTIONSONROBOTICS,VOL.25,NO.1,FEBRUARY2009[40]C.GallettiandP.Fanghella,Single-loopkinematotropicmechanisms,Mech.Mach.Theory,vol.36,no.3,pp.437450,2009.[41]P.Fanghella,C.Galletti,andE.Giannotti,Parallelrobotsthatchangetheirgroupofmotion,inAdvancesinRobotKin

2、ematics.TheNetherlands:Springer,2006,pp.4956.[42]S.Refaat,J.M.Herve,S.Nahavandi,andH.Trinh,Two-mode´over-constrainedthree-dofsrotational-translationallinear-motor-basedparallel-kinematicsmechanismformachinetoolapplications,Robot-ica,vol.25,no.4,pp.461466,2007.[43]X.W.

3、Kong,C.M.Gosselin,andP.L.Richard,Typesynthesisofpar-allelmechanismswithmultipleoperationmodes,ASMEJ.Mech.Des.,vol.129,no.6,pp.595601,2007.[44]D.Zlatanov,I.A.Bonev,andC.MGosselin,Constraintsingularitiesofparallelmechanisms,inProc.IEEEInt.Conf.Robot.Autom.,Washing-Fig.1

4、.Mecanumwheel:γ=45◦(left)andγ=0◦(right).ton,D.C.,2002,pp.496502.[45]D.Zlatanov,I.A.Bonev,andC.MGosselin,Constraintsingularitiesasc-spacesingularities,inAdvancesinRobotKinematics,J.Lenarcicandliterature,wheelswithγ=45◦aremoreoftencalledmecanumwheelsF.Thomas,Eds.Dordrec

5、ht,TheNetherlands:Kluwer,2002,pp.183◦whereastheoneswithγ=0aregenerallycalledSwedishwheels.In192.[46]K.H.Hunt,Constant-velocityshaftcouplings:Ageneraltheory,J.thefollowing,thetermSwedishwheelwilldenotethegeneralcaseforEng.Ind.,vol.95B,no.2,pp.455464,1973.somefixedγ.Asre

6、portedin[1],themecanumwheelwasinventedin1973byBengtIlon,anengineerworkingfortheSwedishcompanyMecanumAB.Sincethen,thiswheeldesignhasattractedtheattentionofthemobileroboticsresearchcommunity.Theinterestinsuchkindofwheelsisrelatedtothepossibilityofdevelopingomnidirection

7、alrobotsinthesenseof[2],i.e.,robotsthathaveafullmobilityintheplanemeaningtherebythattheycanmoveateachinstantinanydirectionwithoutanyreorientation[2].TheneedtoreorientthewheelsornotpriortoimplementinganydesiredlinearvelocityisrelatedtoSwedishWheeledOmnidirectionalMobil

8、eRobots:thepresenceornotofnonholonomicconstraints[3],[4].SincetheKinematicsAnalysisandControlearlystudyofAgullo´etal.[5],the