Abstract: For the limitations of the existing omnidirectional mobile platforms in engineering applications, an omnidirectional track is proposed based on the structure principles of the Mecanum wheel and conventional tracked running mechanisms, and the layout structure of the tracked omnidirectional mobile platform is described. A new concept of steering slip power ratio is proposed by comparing the power consumption of steering sliding resistance of the tracked omnidirectional mobile platform with that of conventional tracked mobile platform because of inevitable slippage between the omnidirectional track and ground in steering motion. And the slip power ratio of steering motion at center point is analyzed. A prototype equipped with an independent electric driving system is developed. When the rollers are locked, the prototype is equivalent to an conventional tracked mobile platform, so the total power consumption of steering motion at center point, which is the total output current of the battery, is measured at the highest and uniform speed in the conditions of free rollers and locked rollers. The results show that the total power consumption of the prototype with free rollers is approximately 53% less than that of the prototype with locked rollers in the center-steering motion.

Key words: ordnance science and technology, omnidirectional track, mobile platform, steering slip-power ratio