一种履带式全方位移动平台转向滑移功率比分析

针对现有全方位移动平台在工程应用的局限性，结合Mecanum轮和传统履带行走机构的结构原理，提出全方位移动履带，并描述履带式全方位移动平台的布局结构。由于履带在转向过程中也不可避免地存在与地面之间的滑动，为了比较履带式全方位移动平台与传统履带式移动平台的转向滑动阻力功耗，提出转向滑移功率比的概念，并分析中心转向的滑移功率比。研制采用独立电驱动的原理样车。当滚轮锁住时，样车可等效为传统履带式移动平台。分别测量在滚轮自由和锁住两种状态下样车以最高速度匀速中心转向时的总功耗，即电池的输出电流。试验结果表明，样车在滚轮自由状态下的转向总功耗比滚轮锁住状态下的转向总功耗减小了约53%. 因此，履带式全方位移动平台可以改善传统履带式移动平台的转向功率消耗。

Analysis about Steering Slip Power Ratio of a Tracked Omnidirectional Mobile Platform

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.