一种万向车台驱动轮及运动学的研究  

Research on Driving Wheel and Kinematics of the Omni-Directional Vehicle

作　　者：丁永强 丁志强[2] 

机构地区：[1]甘肃工大舞台技术工程有限公司,甘肃兰州730050 [2]兰州理工大学电气工程与信息工程学院,甘肃兰州730050

出　　处：《机械研究与应用》2017年第3期57-60,共4页Mechanical Research & Application

摘　　要：万向车台是一种能转向、平移、旋转与全向移动的平台(舞台),突破了传统车台在固定轨道上运行的局限。其采用三轮组合驱动装置,结构紧凑,布线方便,行走灵活,能够实现全方位运动,对一些轮系结构对比、分析,针对其运行环境,设计车台的驱动轮。根据轮系的组合情况分析车台的运动约束,对车台运动学建模,运用相关理论进行运动学分析,运动模式分析,通过分析得出车台整体运动与各驱动件运动的关系。Omni-direetional vehicle, a kind of platform （stage） that could swerve, translate, rotate and omni-directionally move, breaks the traditional limitation of vehicle sets motion in a fixed orbit. It adopts three-wheel combination drive, with compact structure, convenient wiring and flexible walking, is able to achieve omnibearing movement. Comparison and analysis on some wheel structures are conducted so as to design the drive wheel for vehicle in view of its running environment. Accord- ing to combination of wheels, motion constraint to the vehicle is analyzed, kinematical modeling of vehicle is carried out, and the kinematics analysis and movement pattern analysis are conducted by using the related theory; finally, relationship between the overall movement of vehicle and motion of the driving parts is obtained through the analysis.

关 键 词：万向车台 驱动轮 建模 运动分析 

分 类 号：TH11[机械工程—机械设计及理论]