摘要
常规Mecanum轮一般用于组成四轮全方位系统。将三个完全相同的常规Mecnum轮放置在等边三角形的三个顶点,能构成一种具有实用价值的多向行走系统。该系统不需转向轮或转向机构,仅利用3个轮子旋转速度大小和旋向组合实现平面上一个绕车身中心的定轴旋转、三个沿车身三角形对角线的直线运动。并给出了该系统的结构图,分析了系统实现上述运动的运动学原理。
The traditional Mecanum wheel is used to make the Omni-directional system with four wheels. If put one wheel in each point of a equilateral regular,a applied multidirection motion system is formed. This system can move in one rotation locomotion round the system centre and three beeline locomotions along the catercorner of the equilateral regular. Then system motion prieiple is prensented and the layout configration is illustrated for this muhidireetion motion system.
出处
《世界科技研究与发展》
CSCD
2008年第6期803-806,共4页
World Sci-Tech R&D
关键词
Mecanum轮三轮系统
多向运动
结构特点
运动原理
system with three Mecanum wheels
multidirection locomotion
configuration characteristic
motion principle
