Design of an Omnidirectional Mobile Platform based on Powered Universal Wheel
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 use...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2016-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2016.10.017 |
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| author | Wang Weijun Yang Guilin Zhang Chi Chen Qingying |
| author_facet | Wang Weijun Yang Guilin Zhang Chi Chen Qingying |
| author_sort | Wang Weijun |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-7b032047637943f1b5c79435db40e394 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2016-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-7b032047637943f1b5c79435db40e3942025-01-10T14:15:16ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392016-01-0140909329926433Design of an Omnidirectional Mobile Platform based on Powered Universal WheelWang WeijunYang GuilinZhang ChiChen QingyingAn 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.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2016.10.017Omnidirectional movementPowered universal wheelKinematics analysisGear transmission |
| spellingShingle | Wang Weijun Yang Guilin Zhang Chi Chen Qingying Design of an Omnidirectional Mobile Platform based on Powered Universal Wheel Jixie chuandong Omnidirectional movement Powered universal wheel Kinematics analysis Gear transmission |
| title | Design of an Omnidirectional Mobile Platform based on Powered Universal Wheel |
| title_full | Design of an Omnidirectional Mobile Platform based on Powered Universal Wheel |
| title_fullStr | Design of an Omnidirectional Mobile Platform based on Powered Universal Wheel |
| title_full_unstemmed | Design of an Omnidirectional Mobile Platform based on Powered Universal Wheel |
| title_short | Design of an Omnidirectional Mobile Platform based on Powered Universal Wheel |
| title_sort | design of an omnidirectional mobile platform based on powered universal wheel |
| topic | Omnidirectional movement Powered universal wheel Kinematics analysis Gear transmission |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2016.10.017 |
| work_keys_str_mv | AT wangweijun designofanomnidirectionalmobileplatformbasedonpowereduniversalwheel AT yangguilin designofanomnidirectionalmobileplatformbasedonpowereduniversalwheel AT zhangchi designofanomnidirectionalmobileplatformbasedonpowereduniversalwheel AT chenqingying designofanomnidirectionalmobileplatformbasedonpowereduniversalwheel |