基于轮毂电机驱动的全方位移动平台  

Omni-directional mobile platform based on hub motor drive

作　　者：陆琦[1] 沈林勇[1] 章亚男[1] 钱晋武[1] 

机构地区：[1]上海大学机电工程及自动化学院,上海200072

出　　处：《机械设计》2009年第12期61-64,共4页Journal of Machine Design

基　　金：国家863计划资助项目(2006AA04Z224);上海市重点学科基金资助项目(Y0102)

摘　　要：将全方位轮和轮毂电机驱动技术结合起来设计了一种新型的全方位移动平台,能在平面上实现任意方向运动,用于空间狭小的场合有较大优势。轮毂轮缘上垂直分布着很多小辊子,每个轮毂内都装有电机;平台采用了轮毂电机直接驱动,较传统电机具有转矩大、损耗小、结构紧凑等优点。With the combination of omni-directional wheel and the driving technology of hub motor a kind of new typed omni-directional mobile platform, which could achieve movements in arbitrary direction and has greater advantage when applied to the situation of narrow space, was designed. A large number of small rollers were distributed vertically on the rim of hub, and electric motors were mounted in every hub. The platform adopted hub motors for direct drive, thus it possesses advantages of big torque, less wastage and compact structure compared with the traditional motors.

关 键 词：全方位轮 全方位移动机构 轮毂电机 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]