Design of an Omnidirectional Mobile Platform based on Powered Universal Wheel

Wang Weijun; Yang Guilin; Zhang Chi; Chen Qingying

doi:10.16578/j.issn.1004.2539.2016.10.017

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Design of an Omnidirectional Mobile Platform based on Powered Universal Wheel

更新时间：2022-10-20

- Design of an Omnidirectional Mobile Platform based on Powered Universal Wheel
- Vol. 40, Issue 10, Pages: 90-93(2016)
- 作者机构：
  
  1. 中国科学院宁波材料技术与工程研究所
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2016.10.017
  CLC：
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[1]王慰军,杨桂林,张驰,陈庆盈.一种基于驱动万向轮的全向移动平台设计[J].机械传动,2016,40(10):90-93.

Wang Weijun, Yang Guilin, Zhang Chi, et al. Design of an Omnidirectional Mobile Platform based on Powered Universal Wheel. [J]. 40(10):90-93(2016)
[1]王慰军,杨桂林,张驰,陈庆盈.一种基于驱动万向轮的全向移动平台设计[J].机械传动,2016,40(10):90-93. DOI： 10.16578/j.issn.1004.2539.2016.10.017.

Wang Weijun, Yang Guilin, Zhang Chi, et al. Design of an Omnidirectional Mobile Platform based on Powered Universal Wheel. [J]. 40(10):90-93(2016) DOI： 10.16578/j.issn.1004.2539.2016.10.017.

摘要

设计了一种基于驱动万向轮的全向移动平台,克服了麦克纳姆轮的缺点。其中驱动万向轮内部采用齿轮传动,两个电机分别控制滚轮滚动和转向自由度。整体移动平台采用6轮式布置,两个驱动万向轮设置在本体中间,4个被动辅助万向轮设置在本体4个角落,各万向轮通过悬架结构与本体相连接,提高了移动平台的运动稳定性。通过对主体结构进行有限元分析验证了结构的强度与刚度。最后通过对移动平台进行运动学分析,得到了输入转速与移动平台运动速度之间的关系,验证了移动平台的全向移动功能以及轮子布局的合理性,并为移动平台运动控制和离线编程提供了依据。

Abstract

An omnidirectional mobile platform based on powered universal wheel which avoids the weakness of Mecanum wheel is designed. The gear transmission is used in the powered universal wheel,and the rolling and steering freedom are controlled by two motors respectively. The six- wheel configuration is used in the mobile platform,two powered universal wheels located in the middle of the platform,while four assisted universal wheel located in four corners of the main body. Every universal wheel connects with the main body through the suspension structure,which made contribution to the stability of the motion. Through the method of FEA,the intensity and stiffness of the main body structure is testified. Finally,through the kinematics analysis of the mobile platform,the relationship of the input rotation speed and mobile platform motion speed is obtained. The function of omnidirectional mobility and the reasonability of wheel configuration is testified. The result of the kinematics analysis can provide a basis for motion control and offline programming of the mobile platform.

关键词

全向移动驱动万向轮运动学分析齿轮传动

Keywords

Omnidirectional movementPowered universal wheelKinematics analysisGear transmission

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