模块化矢量轮底盘的设计与控制  

Design and Control of Modular Swerve Chassis

作　　者：武书昆 汪睿翔 奚雨涵 石睿 冷春涛[1] Wu Shukun;Wang Ruixiang;Xi Yuhan;Shi Rui;Leng Chuntao(Student Innovation Center,Shanghai Jiao Tong University,Shanghai 200240;School of Mechanical Engineering,Shanghai Jiao Tong University,Shanghai 200240)

机构地区：[1]上海交通大学学生创新中心,上海200240 [2]上海交通大学机械与动力工程学院,上海200240

出　　处：《传动技术》2021年第4期45-48,共4页Drive System Technique

摘　　要：针对空间狭小的环境下,对底盘运动的速度高,且灵活性、驱动力都比较大的工作要求,提出了一种模块化的矢量轮底盘。优化设计了底盘模块的行驶和转向两套动力系统,对关键零件进行了仿真验证,并提出了基于底盘的几何中心进行逆运动学解算的一种方法。A modular swerve chassis was proposed to meet the requirements of high speed, high flexibility and large driving force in a narrow space environment.The driving and steering power systems of the chassis module were optimized, the key components were simulated and verified, and a method of inverse kinematics was proposed based on the geometric center of the chassis.

关 键 词：矢量底盘 传动设计 矢量轮模块 运动解算 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]