全方位线控四轮转向电动汽车设计

提出了一种用于外转子式轮毂电机的双横臂悬架导向机构和转向机构，可实现四轮驱动电动汽车绕任一点进行旋转，以及沿任一方向进行平移。研究了当电机失灵时的故障排除技术，即可通过电磁离合器的开关组合，驱动一台转向电机可使四个车轮全部复位，且仍可保持转向能力。用Euler角描述了悬架导向机构的姿态，推导出与车轮定位参数相关的悬架导向机构姿态角公式，对各控制点坐标进行参数化，在ADAMS软件下建立了参数化模型，并对悬架导向机构进行了优化设计。

Design of an omnidirectional wire controlled four wheels steering electric car

A kind of double transverse arm suspending frame guiding mechanism and steering mechanism that employed in outer rotor typed hub motor has been put forward, which could make the four wheel driven electric car to realize a rotation round arbitrary point and to translate along arbitrary direction. The technique of fixing a breakdown when the motor is out of order has been studied, that is by means of the on-off combination of an electronic clutch to drive a steering motor letting the four wheels be all reset and the mechanism could still be able to maintain its steering ability. The posture of suspending frame guiding mechanism was described with Euler angle, and the posture angle formulae of suspending frame guiding mechanism relevant to location parameters of car wheels were derived. Parameterization was carried out upon coordinate of each controlling point. The parameterized model was established under ADAMS software and optimization design was carried out upon the suspension frame guiding mechanism.