T2 omni-directional vehicle mechanical design
T2 omni-directional vehicle mechanical design
复制标题
T2全向车辆机械设计
DOI：
10.1117/12.369243
复制
发表时间：
1999
期刊：
影响因子：
--
通讯作者：
R. Maxfield
中科院分区：
文献类型：
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作者：
Carl G. Wood;Morgan E. Davidson;Shayne C. Rich;Jared Keller;R. Maxfield
为了应对超高机动性车辆的需求，犹他州州立大学（USU）开发了一款具有独特机动性和机动性能力的自动驾驶汽车。本文介绍了USU T2全向飞行器（ODV）的机械设计。T2车辆是第二代ODV，重1350磅，有六个独立驱动和转向轮组件。六轮独立转向系统能够无限旋转，为增强车辆机动性要求提供了独特的解决方案。详细介绍了车轮驱动电机的机械设计和驱动系统的性能特点。转向和悬架系统进行了讨论，并与这些系统的设计问题进行了详细说明。描述了车辆系统结构、车辆电子结构、控制系统结构和基于运动学的控制律开发。
In response to ultra-high maneuverability vehicle requirements, Utah State University (USU) has developed an autonomous vehicle with unique mobility and maneuverability capabilities. This paper describes the mechanical design of the USU T2 Omni-Directional Vehicle (ODV). The T2 vehicle is a second- generation ODV and weighs 1350 lb with six independently driven and steered wheel assemblies. The six wheel, independent steering system is capable of infinite rotation, presenting a unique solution to enhanced vehicle mobility requirements. Mechanical design of the wheel drive motors and the performance characteristics of the drive system are detailed. The steering and suspension system is discussed and the design issues associated with these systems are detailed. The vehicle system architecture, vetronics architecture, control system architecture, and kinematic-based control law development are described.