The congruent orthogonal Bricard special-shaped wheel set mechanism is composed of a first supporting rod (1), a second supporting rod (2), a third supporting rod (3), a fourth supporting rod (4), a fifth supporting rod (5) and a sixth supporting rod (6). And the special-shaped wheel mechanism is driven to move on the ground by utilizing the rotary motion of the driving motor. In addition, the mechanism further has the over-constraint characteristic, so that the rigidity of the mechanism is high, the bearing capacity of the mechanism is improved, and the stability and the accuracy of mechanism movement are achieved by analyzing the movement characteristic and the mechanical characteristic of the mechanism. Complete-circle rotation of the mechanism can be achieved through independent motor control, and stability of the mass center of movement is guaranteed based on continuous contact between the special-shaped wheel and the ground. The mobile platform is constructed through different layouts of the multiple wheel set mechanisms, and the mobile platform can have the flat ground rapid moving capacity, the obstacle crossing capacity and the omni-directional moving capacity and has wide application prospects in the fields of logistics, military affairs and the like.

    全等正交Bricard异形轮组机构由第一支撑杆(1)、第二支撑杆(2)、第三支撑杆(3)、第四支撑杆(4)、第五支撑杆(5)和第六支撑杆(6)组成。通过利用驱动电机的旋转运动驱动异形轮机构在地面运动。该机构还具有过约束特性,使得机构刚度较高,从而提高机构的承载能力,并且通过对机构的运动特性和力学特性分析,实现机构运动的稳定性和精确性。通过单独电机控制可实现机构整周回转,基于异形轮与地面连续接触,保证运动的质心平稳。通过多个轮组机构不同布局构造移动平台,可具备平坦地面快速移动能力、越障能力和全向移动能力,在物流、军事等领域具有较为广阔的应用前景。


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    Title :

    Congruent orthogonal Bricard special-shaped wheel set mechanism


    Additional title:

    一种全等正交Bricard异形轮组机构


    Contributors:
    LIU CHAO (author) / LIU YU (author) / XU CHAOYAN (author) / CHEN MING (author) / LYU JINGYUN (author) / WANG XIANFA (author)

    Publication date :

    2023-10-20


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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