All-Wheel Power and All-Wheel Swing Drive Lightweight Mobile Undercarriage Method of Operation

Abstract

The invention relates to a working method for driving a light mobile chassis system through all-wheel power and all-wheel rotation. The working method comprises the steps that an all-wheel synchronousforward or backward power drive and steering drive control method, an all-wheel inclined forward or backward power drive and steering drive control method and an all-wheel synchronous movement rotation power drive and steering drive control method. By using a power distribution drive and steering dispersion drive method, all-round power drive and steering control over a wheel set are achieved, all-rotation movement and flexible steering functions of a mobile platform are achieved, the size and weight of the wheel set are reduced, the wheel set moving and steering linearity is improved, and moreover, the working method has the advantages that the cost is low and control is simple and precise. It is easily achieved that a multi-wheel movement and steering assembly of the mobile platform ismicro, high in performance and low in cost, and the automatic and intelligent levels of the multi-wheel mobile platform system are improved.

Description

Technical field [0001] The invention belongs to the technical field of mobile chassis, and specifically relates to a working method of a lightweight mobile chassis system with all-wheel power and all-wheel rotary drive. Background technique [0002] The wheeled traveling mechanism is widely used in various complex occasions due to its low friction and resistance, low motion noise, good steering performance and good flexibility and maneuverability during driving, such as all-wheel drive cars and applications in narrow spaces Military special robots used in special terrain, and mobile robots used in high-risk and complex ground environments. [0003] Especially the all-wheel drive platform, because of the multi-wheel drive and steering function, which can obtain more flexible maneuvering characteristics. When each independently driven and steered wheel mechanism on the mobile platform encounters obstacles or unfavorable terrain, since each drive wheel has power drive and steering dr...

AI Technical Summary

Problems solved by technology

[0009] In the all-wheel steering drive scheme, if the independent steering control of the all-wheels is to be realized, the number of steering sub-mechanisms also required is 1 / N~N (N=the number of wheel sets to be driven), because the distance between the power drive assembly and the steering assembly There is coupling, which is very unfavorable to the layout of the steering drive mechanism. There will also be problems such as increasing the size and cost of the driving wheel set. Due to the differences in the response speed of the steering motor on each wheel set, it will lead to inconsistent, unbalanced and unbalanced power output. out of sync, resulting in poor steering linearity for the mobile platform, which in turn causes other major problems

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