An under-actuated coupling type omni-directional four-wheel mobile platform with a continuously adjustable rotation radius comprises a chassis supporting plate, a first wheel train assembly, a second wheel train assembly, a third wheel train assembly, a fourth wheel train assembly, a first coupling transmission assembly and a second coupling transmission assembly. The four wheel train assemblies are evenly distributed at the four corners of the chassis supporting plate, the first wheel train assembly and the fourth wheel train assembly are distributed diagonally, and the second wheel train assembly and the third wheel train assembly are distributed diagonally. The first coupling transmission assembly is arranged between the first gear train assembly and the second gear train assembly; the second coupling transmission assembly is arranged between the third gear train assembly and the fourth gear train assembly. Under the condition that a steering engine is not used, reversing is achieved only through coupling of the two sets of wheels, omni-directional movement can be achieved, zero-radius turning can be met, turning can be achieved by changing the direction in the moving process, the rotating radius can be continuously adjusted between zero and infinity during turning, and the steering efficiency is improved. And meanwhile, the central axes of the four wheels can be intersected at the same instantaneous center at any moment during turning, so that all the wheels are prevented from sideslip during turning.
一种旋转半径连续可调的欠驱动耦合式全方位四轮移动平台,包括底盘支撑板、第一、第二、第三、第四轮系组件、第一及第二耦合传动组件;四个轮系组件均匀布设在底盘支撑板的四个角点处,第一与第四轮系组件对角线分布,第二与第三轮系组件对角线分布;第一耦合传动组件设置在第一与第二轮系组件之间;第二耦合传动组件设置在第三与第四轮系组件之间。本发明在不使用转向舵机情况下,仅通过两组车轮耦合实现换向,既可实现全向移动,又可满足零半径转弯,还可在移动过程中改变朝向进行转弯,并且转弯时的旋转半径可以在零至无穷远之间连续可调,同时转弯时能够实现四个车轮的中轴线在任意时刻都交汇于同一瞬心,从而保证转弯时所有车轮均无侧滑。
Under-actuated coupling type omni-directional four-wheel mobile platform with continuously adjustable rotation radius
旋转半径连续可调的欠驱动耦合式全方位四轮移动平台
2024-07-23
Patent
Electronic Resource
Chinese
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