CAJ | 학술논문

针对Mecanum 轮式全方位移动平台存在路面适应性差等问题，提出了“全方位移动履带”的结构，并研制出一种履带式全方位移动平台；研究了履带式全方位移动平台的运动平顺性，分别建立了履带式和Mecanum轮式全方位移动平台的虚拟样机，主要完成了两种样机在B~F级不平路面的纵向及横向运动仿真试验；分析了两种样机纵向及横向运动的平顺性，结果表明，履带式全方位移动平台的运动平顺性优于Mecanum轮式全方位移动平台，并总结了路面等级对其纵向及横向运动平顺性的影响规律；在一段土路(相当于C级路面)上完成了平台的平顺性试验，试验结果验证了仿真结果的正确性；因此，履带式全方位移动平台可以改善Mecanum轮式全方位移动平台的路面适应性。
침대Mecanum 륜식전방위이동평태존재로면괄응성차등문제，제출료“전방위이동리대”적결구，병연제출일충리대식전방위이동평태；연구료리대식전방위이동평태적운동평순성，분별건립료리대식화Mecanum륜식전방위이동평태적허의양궤，주요완성료량충양궤재B~F급불평로면적종향급횡향운동방진시험；분석료량충양궤종향급횡향운동적평순성，결과표명，리대식전방위이동평태적운동평순성우우Mecanum륜식전방위이동평태，병총결료로면등급대기종향급횡향운동평순성적영향규률；재일단토로(상당우C급로면)상완성료평태적평순성시험，시험결과험증료방진결과적정학성；인차，리대식전방위이동평태가이개선Mecanum륜식전방위이동평태적로면괄응성。
For the existing problems of a Mecanum wheeled omnidirectional mobile platform such as bad road adaptability,the structure of the omnidirectional mobile track was proposed,and a tracked omnidirectional mobile platform was developed.The ride comfort of the platform was studied, the virtual prototypes of the tracked and Mecanum-wheeled platforms were established respectively, and simulations of the longitudinal and lateral motions of the both prototypes were mainly accom-plished on the grade B~F uneven roads;the ride comfort of the longitudinal and lateral motions of the both prototypes was analysed,and the influence law among the ride comfort of the longitudinal and lateral motions of the platform and the grade of the uneven roads was obtained.The ride comfort tests were accomplished on a dirt road that was equivalent to a grade C road,and the test results can vali-date the correctness of the simulation results.Therefore,the tracked omnidirectional mobile platform can improve the road adaptability of the Mecanum-wheeled platform.