Spherical omnidirectional wheel mechanism based on artificial potential field

Abstract

The invention discloses a spherical omnidirectional wheel mechanism based on an artificial potential field. The spherical omnidirectional wheel mechanism comprises an inner spherical shell and an outer spherical shell which are concentric as well as an outer spherical shell driving assembly, wherein the outer spherical shell driving assembly comprises three single-row omnidirectional wheels whichare uniformly distributed along the circumference, the single-row omnidirectional wheels are mounted on the inner spherical shell through wheel carriers, an elastic element is arranged between each wheel carrier and the inner spherical shell, and each wheel carrier is provided with a running motor for driving the corresponding single-row omnidirectional wheel; the inner spherical shell is mountedat the bottom of a magnetic isolation plate, a drum-shaped frame is arranged on the magnetic isolation plate, the drum-shaped frame is in rolling connection with the outer spherical shell through a bull wheel, and a spherical inner electromagnet is mounted at the top of the magnetic isolation plate; and the outer spherical shell is mounted on an automobile chassis through a wheel carrier, a spherical outer electromagnet corresponding to the spherical inner electromagnet in position is arranged in the wheel carrier between the automobile chassis and the outer spherical shell, and opposite poleends of the spherical outer electromagnet and the spherical inner electromagnet realize heteropole attraction. The artificial potential field generated by an electromagnet system can strengthen a gravity potential field to enhance the restoring moment, so that a built-in system is steadier.

Description

technical field [0001] The invention relates to a wheeled road running mechanism, in particular to a spherical omnidirectional wheel mechanism based on an artificial potential field. Background technique [0002] Four-wheel vehicle is a means of transportation widely used in people's daily life, and the wheel body support and drive are its basic units. [0003] At present, common wheels often can only rotate around the axis of rotation perpendicular to the plane of the wheel, so the car usually cannot achieve lateral movement, which easily limits the flexibility of parking the car into storage and quickly avoiding danger. [0004] Recently, British inventor Matthew Liddiard (Matthew Liddiard) designed a laterally driven omnidirectional wheel mechanism and applied it to automobile wheels, called Liddiard wheel. This omnidirectional wheel motion can roll laterally along the direction of travel of the car body, allowing the car to move laterally from left (right) to right (lef...

AI Technical Summary

Problems solved by technology

However, when the mechanism works as a wheel at high speed and under heavy load, according to the principle of relative motion, due to the limited restoring moment generated by gravity, the internal eccentric ball is prone to high-speed turnover, resulting in ball shaking and system instability. Therefore, there are still some problems in its application as a wheel

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