CAJ | 학술논문

基于4轮独立电驱动技术、网络控制技术和全方位轮技术，研究了一种在不改变自身姿态情况下实现全方位移动功能的运动平台，并着重阐述了全方位轮的结构、布局及其驱动控制技术。试验与应用结果表明：平台灵活的机动性能可解决狭小空间内的物资搬运以及快速、准确定位与对接问题。
기우4륜독립전구동기술、망락공제기술화전방위륜기술，연구료일충재불개변자신자태정황하실현전방위이동공능적운동평태，병착중천술료전방위륜적결구、포국급기구동공제기술。시험여응용결과표명：평태령활적궤동성능가해결협소공간내적물자반운이급쾌속、준학정위여대접문제。
Based on four-wheel independent electric drive technology,network control technology and om-ni-directional wheel technology,a mobile platform which can realize omni-directional mobile function without changing its attitude is designed,and the construction,layout and drive control technology of om-ni-drerection wheel are also expounded.Experiment and application results show that the omni-directional mobile function of the platform can solve the problems of material handling in limited space,and fast,ac-curate positioning and docking.