A two-degree-of-freedom sleeve type unfolding mechanism based on Mecanum wheels comprises an inner sleeve, an outer sleeve and 2N groups of Mecanum wheel driving mechanisms; 2N groups of Mecanum wheeldriving mechanisms are uniformly distributed between the inner sleeve and the outer sleeve in the circumferential direction of the inner sleeve; the 2N groups of Mecanum wheel driving mechanisms arelocated on the same circular surface, the rotation directions of Mecanum wheels in the two Mecanum wheel driving mechanisms located at the two ends of the same diameter are the same, and the rotationdirections of the adjacent Mecanum wheels are different; when the two Mecanum wheels located at the two ends of the same diameter rotate in the same direction and the adjacent Mecanum wheels rotate indifferent directions, translational motion of the inner sleeve along the central axis of the outer sleeve is achieved; when all the Mecanum wheels rotate in the same direction, the inner sleeve rotates around the central axis of the outer sleeve. Mecanum wheels are introduced to serve as a power source of the sleeve type unfolding mechanism, and the unfolding motion and the rotating motion of a sleeve are achieved through one mechanism.

    一种基于麦克纳姆轮的两自由度套筒式展开机构,包括内套筒、外套筒、2N组麦克纳姆轮驱动机构;2N组麦克纳姆轮驱动机构沿内套筒的周向均匀分布在内套筒和外套筒之间;2N组麦克纳姆轮驱动机构位于同一圆面上,位于同一直径两端的两个麦克纳姆轮驱动机构中的麦克纳姆轮旋向相同,相邻的麦克纳姆轮旋向不同;当位于同一直径两端的两个麦克纳姆轮转向相同且相邻的麦克纳姆轮转向不同时,实现内套筒沿外套筒中心轴线的平移运动;当所有麦克纳姆轮转向相同时,实现内套筒绕外套筒中心轴线旋转运动。本发明引入麦克纳姆轮作为套筒式展开机构动力源,用一种机构实现套筒的展开和旋转两种运动。


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    Title :

    Two-degree-of-freedom sleeve type unfolding mechanism based on Mecanum wheels


    Additional title:

    一种基于麦克纳姆轮的两自由度套筒式展开机构


    Contributors:
    XU YIXIAN (author) / YU CHUNYU (author) / JI WEI (author) / NI YANSHUO (author) / LIANG DONGPING (author) / ZHAO ZHENBO (author) / YU HAIYAN (author) / XIONG XIAO (author)

    Publication date :

    2020-11-03


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B64G Raumfahrt , COSMONAUTICS



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