一种基于全方位底盘的小型侦查平台设计

Designing of A Small Reconnaissance Platform Based on Omnidirectional Chassis

针对全方位履带结构,分析了其运动规律,列举了多种可实现全方位运动的平台布局形式;针对侦查平台运行环境较为复杂且越野较多的特点,确定采用纵向对称布局形式,研制了全方位运动底盘;针对侦查平台的总体方案、底盘电驱动方案、全方位履带方案进行设计,依据方案研制了侦查平台原理样机;对样机进行调试,进行了多种复杂环境下的实地试验;结果表明,该平台具有全方位运动性能,且具备一定的越野能力。

For the structure of omnidirectional track,its motion rules are analyzed and a variety of layouts of omnidirectional platform for achieving omnidirectional motion are listed. For characteristics of the operation environment of reconnaissance platform,complex and cross-country,the longitudinal symmetrical layout form is determined to develop the omnidirectional chassis. Based on the overall scheme of the reconnaissance platform,the scheme of chassis electrical driven system,the scheme of omnidirectional track,the prototype are developed and carried out many experiments in complex environments. The results show that the platform has omindirectional mobile ability and cross-country ability.