The invention relates to a multi-degree-of-freedom driving wheel and a mobile platform. The multi-degree-of-freedom driving wheel comprises a steering mechanism, an eccentric mechanism and a rotating wheel mechanism. The steering mechanism comprises a first driving piece rotating in the first direction. The eccentric mechanism is connected to the first driving piece and rotates around the first direction along with the first driving piece; the eccentric mechanism comprises a second driving piece rotating around a second direction; the rotating wheel mechanism is connected to the second driving piece, and the rotating wheel mechanism comprises a connecting piece, a third driving piece fixed to the connecting piece and a rotating wheel assembly rotationally connected to the connecting piece; wherein the end, away from the rotating wheel assembly, of the connecting piece is connected to the second driving piece and rotates along with the second driving piece, and the third driving piece is used for driving the rotating wheel assembly to rotate. By means of the mode, the rotational inertia of the rotating wheel assembly is reduced while the multi-degree-of-freedom driving wheel achieves multi-degree-of-freedom movement, and control over the multi-degree-of-freedom driving wheel is more sensitive.

    本申请涉及一种多自由度驱动轮及移动平台。多自由度驱动轮包括转向机构、偏心机构和转轮机构,转向机构包括绕第一方向转动的第一驱动件;偏心机构连接于所述第一驱动件并随所述第一驱动件绕所述第一方向转动;所述偏心机构包括绕第二方向转动的第二驱动件;转轮机构,连接于所述第二驱动件,所述转轮机构包括连接件以及固定于所述连接件上的第三驱动件和转动连接于所述连接件上的转轮组件;其中所述连接件远离所述转轮组件的一端连接于所述第二驱动件并随所述第二驱动件转动,所述第三驱动件用于驱动所述转轮组件转动。通过上述方式,使多自由度驱动轮实现多自由度运动的同时,减小转轮组件的转动惯量,使得多自由度驱动轮的控制更加灵敏。


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    Title :

    Multi-degree-of-freedom driving wheel and mobile platform


    Additional title:

    多自由度驱动轮及移动平台


    Contributors:
    LIU YEQING (author)

    Publication date :

    2024-03-15


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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