基于电驱动技术的全方位移动平台  

An Omni-directional Mobile Platform Based on Electric Drive Technology

作　　者：颜南明[1] 张豫南[1] 王双双[1] 张健[1] 

机构地区：[1]装甲兵工程学院控制工程系,北京100072

出　　处：《装甲兵工程学院学报》2015年第3期81-84,94,共5页Journal of Academy of Armored Force Engineering

基　　金：军队科研计划项目

摘　　要：基于4轮独立电驱动技术、网络控制技术和全方位轮技术,研究了一种在不改变自身姿态情况下实现全方位移动功能的运动平台,并着重阐述了全方位轮的结构、布局及其驱动控制技术。试验与应用结果表明:平台灵活的机动性能可解决狭小空间内的物资搬运以及快速、准确定位与对接问题。Based on four-wheel independent electric drive technology,network control technology and om-ni-directional wheel technology,a mobile platform which can realize omni-directional mobile function without changing its attitude is designed,and the construction,layout and drive control technology of om-ni-drerection wheel are also expounded.Experiment and application results show that the omni-directional mobile function of the platform can solve the problems of material handling in limited space,and fast,ac-curate positioning and docking.

关 键 词：全方位轮 电驱动 全方位移动平台 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]