新型履带式全方位移动平台运动分析

为了改善轮式全方位移动平台路面适应性、载重等方面的不足，基于全方位履带结构，采用与传统履带车辆类似的对称布局形式，设计新型的履带式全方位移动平台.根据平台布局特点，确定最优布局形式，建立运动学和动力学模型，分析平台运动的各向相异性.以中心转向运动为例进行对比分析可知，全方位平台转向滑动摩擦力矩和驱动力矩均减小.为了确保全方位平台具备和传统履带平台相同的转向能力，确定平台设计应满足的几何条件.根据设计原则，利用ADAMS软件建立平台虚拟样机，对平台纵向直行、横向直行、45°斜行、中心转向运动、E级不平路面和爬越楼梯进行仿真.仿真结果表明，该平台具备全方位移动性能和较好的路面适应性.

Motion analysis of novel track omnidirectional platform

A novel track omnidirectional platform was designed based on the structure of omnidirectional track by applying the symmetrical layout form similar to traditional track vehicle in order to improve the shortage of current wheeled omnidirectional platform in the aspects of loading and road adaptability. The optimal layout was determined and its kinematics model, dynamics model were established to analyze the anisotropy according to the characteristics of platform layout. The comparison of central steering motion showed that the sliding friction torque and the driving torque were all reduced. The geometric requirements in the platform designing were determined in order to ensure omnidirectional platform has the same steering performance with the traditional track platform. The virtual prototype was developed in ADAMS based on the rule of designing. The dynamics model were simulated:longitudinal motion, lateral motion, 45 degree diagonal motion, central steering motion, E-road and stairs. The simulation results show that the novel platform has omnidirectional mobile ability and better road adaptability.