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Acta Armamentarii ›› 2017, Vol. 38 ›› Issue (12): 2309-2320.doi: 10.3969/j.issn.1000-1093.2017.12.003

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Analysis about Motion of Centripetal Tracked Omnidirectional Mobile Platforms

ZHANG Yu-nan1, YANG Huai-bin1, HUANG Tao1,2, ZHANG Shu-yang1, FANG Yuan1   

  1. (1.Department of Arms and Control Engineering,Academy of Army Armored Force,Beijing 100072,China;2.Unit 63983 of PLA, Wuxi 214035, Jiangsu,China)
  • Received:2017-03-21 Revised:2017-03-21 Online:2018-02-01

Abstract: For the deficiencies of current wheeled omnidirectional platform in loading capability and vibration, centripetal tracked omnidirectional mobile platforms are designed based on the structure of omnidirectional mobile track, and their motion characteristics are analyzed. The layout forms of three-and four-track omnidirectional platforms are presented, and the kinematics and dynamics models are established. Anisotropies of omnidirectional platforms are analyzed to achieve the distribution rules of maximum speed and maximum acceleration, and determine the most suitable offset angles of α≥π3 rad and α≥π4 rad. Selecting same roller offset angle to compare the motion characteristics of mobile platforms, the four-track platform has greater improvements than the three-track platform in speed and acceleration, but the three-track platform has better motion balance. The advantages and disadvantages of two platforms in volume, weight, control and other aspects are compared. The virtual prototypes of two platforms are developed using ADAMS, and three kinds of typical motions are simulated: longitudinal motion, lateral motion, central steering motion. The motion characteristics of the platforms are verified. The simulated results show that the centripetal platforms have omnidirectional mobile ability. Key

Key words: ordnancescienceandtechnology, omnidirectionalmobileplatform, track, centripetal

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