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Design and research of omnidirectional tennis robot

Published:2015-06-10 author:XIAO Hua，HUANG He，XIE Mo-yan Browse: 2807 Check PDF documents

Design and research of omnidirectional tennis robot

XIAO Hua，HUANG He，XIE Mo-yan

（School of Power & Mechanical Engineering，Wuhan University，Wuhan 430072，China）

Abstract： Aiming at realizing the high interactive performance between athlete and the tennis machine. A prototype of an

omnidirectional tennis robot was designed. Three omnidirectional wheels driven by high performance DC servo motors were installed in its

chassis so that this robot can move in any direction in the playground and turning in radius of zero. Ball-hitting mechanism，ballcollecting

mechanism and ball-serving mechanism were equipped in this robot. The ball-hitting mechanism was consisting of a tennis bat

and a 3-DOF robotic arm. A bi-camera tracking system was introduced in order to track the tennis ball and realize the interaction

between athlete and the robot. The robot with its movements realized by a 6-axis system was controlled by a high performance DSP

processing unit. A simulation process was conducted in Solidworks 2012 to check the movements of this robot. The simulation results

indicate that the tennis from any angle can be hit back by this robot successfully。

Key words：omnidirectional；tennis；robot

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