Jixie chuandong (Jul 2019)
Conical Mecanum Wheel of Adjusting Roller Offset Angle based on Spherical Four-bar Mechanism
Abstract
As a kind of omnidirectional walking wheel, Mecanum wheel is widely used in many fields, to solve the limitation of Mecanum motion system on smooth road surface，a new variable cone angle Mecanum wheel which can be extended to the V type road surface is proposed. Each roller of the wheel is installed on the four-bar mechanism with spherical arrays and four-bar mechanism with circumferential arrays. The mechanism has a common input shaft to synchronously drive the corresponding Mecanum roller mounted on the connecting rod to realize the change of the roller axis offset angle, to achieve the change of the Mecanum wheel cone angle, to increase the adaptability of the Mecanum wheel motion system to the V type ground walking. By establishing the spherical four-bar mechanism kinematics model, the input and output equations of the spherical four-bar mechanism are solved. The common axis input rotation angle and the mapping relationship between the offset angles of the rollers are obtained. Finally, the slope of the road corresponding to the controllable cone angle of the Mecanum wheel, according to envelope principle, is approximated.
