Research on Structural Design and Modeling of a Threewheel Omnidirectional Soccer Robot

This paper focuses on the research of mechanical structure design and controlling of a robot for the competition in RoboCup middle size league.Using the example of the robot with three omnidirectional wheels,which has been designed by ourselves,and then model and analyze the kinematics and dynamics of the system,at last,we discuss omnidirectional the movement capability of this system.