| Summary: | An omnidirectional mobile platform based on powered universal wheel which avoids the weakness of Mecanum wheel is designed. The gear transmission is used in the powered universal wheel,and the rolling and steering freedom are controlled by two motors respectively. The six- wheel configuration is used in the mobile platform,two powered universal wheels located in the middle of the platform,while four assisted universal wheel located in four corners of the main body. Every universal wheel connects with the main body through the suspension structure,which made contribution to the stability of the motion. Through the method of FEA,the intensity and stiffness of the main body structure is testified. Finally,through the kinematics analysis of the mobile platform,the relationship of the input rotation speed and mobile platform motion speed is obtained. The function of omnidirectional mobility and the reasonability of wheel configuration is testified. The result of the kinematics analysis can provide a basis for motion control and offline programming of the mobile platform.
|
|---|