摘要
针对Mecanum轮式全方位移动平台存在的局限性,提出全方位移动履带,并研制一种履带式全方位移动平台;由于全方位移动履带上具有45°偏置的自由滚轮,所以定义平台纵向与坡面纵向构成的角度为偏航角,分析平台任意偏航角下的坡面静力稳定性,并指出45°、135°,225°以及315°是平台的奇异偏航角;利用平台在约32°的水泥坡面进行稳定性试验,分别测试平台在0°、15°、30°、45°以及90°偏航角下的稳定性;试验结果表明平台在45°偏航角下出现下滑,而在其他偏航角均为出现下滑。因此,履带式全方位移动平台具有与传统履带车辆相同的坡面静力稳定性,除在奇异偏航角下之外。
For the limitations of Mecanum wheeled omnidirectional mobile platforms,the omni-track has been proposed and a tracked omnidirectional platform has been manufactured. Because of the free rollers with offset on the omni-track,the angle between the longitudinal direction of the platform and that of a slope is defined as the yaw angle,the static stability of the platform with any yaw angle on a slope is analyzed,and point out that,,and are the singularity yaw angles of the platform. A set of experiments on an approximately concrete slope have been conducted,and the static stability of the platform respectively with the yaw angle,,,,and has been tested. The results indicate that the platform is able to keep statically stable with any yaw angle except. Therefore,the tracked omnidirectional platform has the same static stability on a slope as conventional tracked vehicles,except with those singularity yaw angles.
出处
《机械设计与研究》
CSCD
北大核心
2015年第2期32-35,共4页
Machine Design And Research
