关键词: 履带, 平台, 全方位运动, 运动学分析

Abstract: For the existing problems of wheeled omnidirectional mobile platforms in engineering applications such as big vibration and bad road adaptability, and basing on the structure of the mecanum wheel and traditional track, propose the structure of a omnidirectional mobile track, and analyse the motion principles of the track. Basing on the track, design a tracked omnidirectional mobile platform and according to the inverse kinematics equation of the platform, confirm that it can meet the essential condition for omnidirectional motion. Point out the problem of steering slip，analyse the relationship between the maximum slip ratio and its structural parameters, and propose the design criteria for it；Basing on its virtual prototype, accomplish simulation tests of transverse, diagonal and centre-steering motion. According to simulation results, it is verified that the platform can implement omnidirectional motion, meanwhile the correctness of the inverse kinematics equation of the platform is verified, consequently the theoretical basis for motion control of the platform is established.

Key words: kinematics analysis, omnidirectional motion, platform, track