一种履带式全方位移动平台的设计与运动学分析

针对轮式全方位移动平台在工程应用中存在振动大及路面适应性差等问题，基于Mecanum轮及传统履带的结构，提出全方位移动履带的结构，并分析全方位移动履带的运动机理；基于全方位移动履带，设计履带式全方位移动平台的布局结构，建立履带式全方位移动平台的逆运动学方程，并根据其判断平台满足全方位运动的必要条件；指出履带式全方位移动平台存在转向滑移问题，分析最大转向滑移率与平台结构参数之间的关系，并提出相应的平台设计准则；基于履带式全方位移动平台的虚拟样机，完成样机横向、斜向及中心转向的运动仿真，通过仿真结果验证履带式全方位移动平台可以实现全方位运动，同时验证平台逆运动学方程的正确性从而为平台的运动控制研究确立理论基础。

Design & Kinematics Analysis of a Tracked Omnidirectional Mobile Platform

For the existing problems of wheeled omnidirectional mobile platforms in engineering applications such as big vibration and bad road adaptability, and basing on the structure of the mecanum wheel and traditional track, propose the structure of a omnidirectional mobile track, and analyse the motion principles of the track. Basing on the track, design a tracked omnidirectional mobile platform and according to the inverse kinematics equation of the platform, confirm that it can meet the essential condition for omnidirectional motion. Point out the problem of steering slip，analyse the relationship between the maximum slip ratio and its structural parameters, and propose the design criteria for it；Basing on its virtual prototype, accomplish simulation tests of transverse, diagonal and centre-steering motion. According to simulation results, it is verified that the platform can implement omnidirectional motion, meanwhile the correctness of the inverse kinematics equation of the platform is verified, consequently the theoretical basis for motion control of the platform is established.