摘要
目前的车辆结构使车辆在行驶中有较大的转弯半径,导致运行的灵活度低,在很多特殊场合中应用不便。介绍了一种新型的车辆机械传动结构,采用了车轮机构的联动方案和转向的欠驱动控制方案,在运行过程中,仅需要2台电机,就能实现转弯半径为0,可原地进行任意方向的前进,并分析了运动过程中差速现象对运动的影响,试验了其运动性能、结构强度和载重能力,可为车辆的改进提供新的思路。
At present, the larger turning radius in vehicle structure leads to low operation flexibility, and causes inconvinience in application. Thus, a new model of mechanical transmission structure of vehicle was figured out. It adopted linkage scheme of wheel mechanism and under actuated control scheme of steering. Besides, it just needs two sets of motors to move forward in situ during the process of running with turning radius of 0. In this paper, the author analyzed the influence of differential speed phenomenon on the steering process and verified motor performance, structural strength and load capacity through experiment, which provides a new way of thinking for the improvement of vehicle.
出处
《工程建设与设计》
2016年第8X期150-151,共2页
Construction & Design for Engineering
基金
山东科技大学全国大学生创新创业训练计划资助
关键词
全方位移动车辆
传动设计
omni-directional mobile robot
mechanical transmission
