摘要
根据全方位移载平台的运动特性,分析了瑞典轮的结构与相应的运动执行功能,并在此基础上设计了新型的全向轮。建立了以新型全向轮为基础的全向运动平台的运动学模型,同时以此为基础分析了全向移载平台运动时各驱动轮的速度变化规律,验证了使用新型全向运动轮的全向移载平台的运动可行性,并为平台的控制提供了理论依据。
Based on the kinematics function of omni- directional load transfer, it studies the Sweden wheel structure and its kinematics implement function, designs a new type of omni - directional load transfer. It possesses three degrees of freedom on the plane. Aiming at the feasibility analysis of the kinematics model, it builds the platform with two- dimensional wheel, describes the kinematics regular pattern and provides the base of platform control.
关键词
全方位移载平台
二维运动轮
运动学模型
Omni - directional Load Transfer
Two - dimensional Wheel
Kinematics Model
