一种球形轮全向驱动平台的设计研究
A platform of spherical wheel is designed,the platform can achieve omnidirectional driver with active power.The platform is assembled with single spherical wheel module according to requirement of material transport.In this way,material on the platform can achieve omnidirectional transport according...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Transmission
2012-01-01
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| Series: | Jixie chuandong |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2012.06.009 |
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| Summary: | A platform of spherical wheel is designed,the platform can achieve omnidirectional driver with active power.The platform is assembled with single spherical wheel module according to requirement of material transport.In this way,material on the platform can achieve omnidirectional transport according to predeterminate track through friction of spherical wheel.The principle of the omnidirectional driver is analyzed thoroughly and the dynamic model in the process of transport of the platform is established.Based on the model,the movement track of the material centroid is analysed by ADAMS simulation.The result shows that the dynamic model of platform is correct and the control algorithm of the platform is feasible. |
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| ISSN: | 1004-2539 |