一种新型轮式全方位移动机构  

A new kind of wheel-model all-directional moving mechanism

作　　者：闫国荣[1] 张海兵[1] 

机构地区：[1]哈尔滨工业大学机器人研究所,黑龙江哈尔滨150001

出　　处：《哈尔滨工业大学学报》2001年第6期854-857,共4页Journal of Harbin Institute of Technology

摘　　要：在许多特殊场合中 ,需要机构具有全方位移动能力 ,于是各种全方位移动机构相继出现 .其中的轮式全方位移动机构应用的较多 ,但总的说来均存在结构复杂、承载能力差、效率不高等缺点 .为此 ,介绍一种新型轮式全方位移动机构 ,对这几方面进行了改进 .初步实践证明是可行的 。All directional moving ability is in need for mechanism, under some special environments, so many kinds of all directional moving vehicles in which wheel model all directional moving mechanism are commonly used come forth. All in all, they have the shortcomings of complex structure, weak carrying capacity, and low efficiency. A new kind of wheel model all directional moving mechanism is introduced to over come these shortcomings. The preliminary practical study proves it feasible.

关 键 词：麦克纳姆轮 轮式全方位移动机构 全方位轮 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]