差动式全方位轮的结构设计与强度分析  

Design and Strength Analysis of the Differential Omnidirectional Wheel

作　　者：叶长龙[1] 郭豹[1] 马国静[1] 马书根[2] 

机构地区：[1]沈阳航空航天大学,辽宁沈阳110136 [2]日本立命馆大学机器人学部

出　　处：《机器人》2014年第4期498-502,共5页Robot

基　　金：沈阳市科技计划资助项目(F12-067-2-00)

摘　　要：在对具有双球冠的开放性全方位轮及具有封闭结构的差动式全方位轮进行分析的基础上,设计了采用聚氨酯(PU)材料的差动式全方位轮.对该全方位轮交替运动过程中的运动误差、地面冲击作了详细分析,确保该轮的运动更平稳.应用有限元分析软件对全方位轮的强度分析证明,改进后的差动式全方位轮在强度上有明显提高,具有更高的承载能力.Based on the analysis on omnidirectional wheel with dual-crown with open structure and the differential omnidirectional wheel with closed structure, a differential omnidirectional wheel using PU （Polyurethane） is developed. And to ensure its motion stability, the kinematic error and the impact from ground on the omnidirectional wheel during its alternating movement are thoroughly studied. The finite element analysis software is adopted in the strength analysis on the omnidirectional wheel, and results show that the strength of the proposed wheel is improved, and it is of better load carrying capacity.

关 键 词：MY轮 结构设计 差动式结构 强度分析 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]