Jixie chuandong (Aug 2023)
Design of Omnidirectional Vehicles Based on the Nested Structure
Abstract
The performance wagon is the key stage mechanical equipment to realize rich performances and diversified changes on the stage, which can carry actors or scenery. In order to solve the problem of low intelligence and poor flexibility of the traditional performance wagon, which can not walk or rotate arbitrarily according to the designated path in accordance with the program arrangement, a new type of performance omnidirectional vehicle form based on nested structure is proposed. The structure is composed of an inner and outer nested double ring frame, and the relative motion and combined motion of the nested inner and outer double rings are realized by meshing the large gear ring of the outer ring with the tension adjustment of the inner ring and driving the pinion components. The omnidirectional vehicle for the proposed structure is designed. Based on the kinematics principle, the kinematics analysis system is carried out for the omnidirectional vehicle, and the kinematics model is established. On this basis, the track estimation is carried out and the three-dimensional model is established to analyze the dynamics of the omnidirectional vehicle. An omnidirectional vehicle platform based on the nested structure is built for system experiment and tests. The results show that the omnidirectional vehicle based on the nested structure has good mechanical performance, and can realize trajectory motion with good robustness and high precision.
