智能小车的可变形车轮设计

Design of Deformable Wheels for the Intelligent Minicar

在普通智能车的基础上对车轮进行设计,在攀爬楼梯时利用传感器测量台阶的高度和宽度,对由步进电机控制车轮中相互垂直方向上的两组支杆进行缩短和拉伸,使车轮变为椭圆形,利用PID算法控制智能车,实现车体平稳行驶,使普通智能车具有爬楼梯的功能。该设计小车占地面积小,平衡稳定性好,实用性较强,具有一定的实践意义。

In this paper,the wheel structure is modified on the basis of the ordinary intelligent minicar.The height and width of the steps are measured by the sensor at stair-climbing process,two groups of supporting bars of the wheel in the perpendicular direction are shortened and stretched by the stepping motors,then the wheel turns into ellipse.The minicar can run smoothly by using PID control algorithm,and the function of climbing stairs of the minicar is realized.The designed minicar has the advantages of small size,good balance and wide practicability,which has a certain practical significance.