An omni-directionally orientable vehicle includes a body portion, an arm extending radially from the body portion, and an orientable propulsion module. Each propulsion module is coupled with the arm and includes at least three propulsion units rigidly attached to the propulsion module. Each propulsion module is coupled to the arm by insertion of a rotational connection formed by a first rotational joint attached to the arm and a second rotational joint attached to the propulsion module and vertically coupled with the first rotational joint. The first rotational joint allows the propulsion module to rotate about the arm and the second rotational joint allows the propulsion module to rotate about an axis perpendicular to the arm, thereby providing the propulsion module with two DOF relative to the body portion. The vehicle includes a rotary encoder located proximate the rotational joint and configured to monitor an orientation of the propulsion module relative to the body portion.
一种全向可定向载具,包括主体部、从主体部径向延伸的臂、和可定向推进模块。每个推进模块与臂联接,并且包括刚性地附接到推进模块的至少三个推进单元。每个推进模块通过旋转连接件的插入联接到臂,该旋转连接件由附接到臂的第一转动关节和附接到推进模块并与第一转动关节垂直联接的第二转动关节形成。第一转动关节允许推进模块围绕臂旋转,并且第二转动关节允许推进模块围绕垂直于臂的轴线旋转,从而为推进模块提供相对于主体部的两个DOF。载具包括旋转编码器,旋转编码器位于转动关节附近,并且被配置为监测推进模块相对于主体部的定向。
Omnidirectional carrier with passive rotational joints
具有被动转动关节的全向载具
20.12.2024
Patent
Elektronische Ressource
Chinesisch
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