步进电动机驱动的Mecanum轮全向装备运输车的设计  

Design of Mecanum Wheeled Omni- Directional Equipped Vehicle Driven by Stepper Motor

作　　者：吕永健[1] 丛新勇[1] 杨铭[1] 

机构地区：[1]空军工程大学,陕西西安710038

出　　处：《微特电机》2013年第12期14-16,30,共4页Small & Special Electrical Machines

摘　　要：介绍了麦克纳姆(Mecanum)全向轮的原理结构,分析了Mecanum四轮系统的运动学原理。结合电动车驱动系统的动力需求,分析了步进电动机的矩频特性。针对装备运输的实际需要,对步进电动机驱动的全向装备运输车进行了软硬件设计。试验表明,该全向装备运输车既能满足在广阔空间内装备运输速度的需求,又能满足在狭小工作空间内的运动灵活性需要。The structure of Mecanum wheels was discussed, and the kinematics principle of the 4-Mecanum-wheeled Omni-Directional system was analyzed. After the analysis of electric vehicle＇s power demand, the torque-frequency performanee of stepper motor was discussed. According to the practical requirements of equipment transportation, the software and hardware of omni-directional equipped vehicle driven by stepper motor were designed. The test resuh show that this kind omni-directional equipped vehicle can meet the requirements of high transportation speed in vast space and high flexibility in narrow working space.

关 键 词：麦克纳姆轮 步进电动机 全向运输车 矩频特性 

分 类 号：TM383.6[电气工程—电机]