Double-crank connecting rod cross slider type omni-directional moving chassis structure and control method

• Main Authors: LU ZHIGUO, GAO NING, SHI XINHAO, CHEN SIYANG
• Format: Patent
• Language: Chinese; English
• Published: 29.08.2023
• Subjects: AXLES FOR WHEELS OR CASTORS; CASTORS; INCREASING WHEEL ADHESION; LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS; MOTOR VEHICLES; PERFORMING OPERATIONS; TRAILERS; TRANSPORTING; VEHICLE WHEELS; VEHICLES IN GENERAL

According to the double-crank connecting rod and crosshead shoe type omni-directional moving chassis structure and the control method, in the under-actuated structure, reversing is achieved only through coupling of two sets of wheels under the condition that steering engines are not used, in the non-under-actuated structure, reversing can be achieved by expanding application of the two steering engines, diagonal wheels are connected through the double-crank connecting rod mechanism, and the steering engines are connected through the double-crank connecting rod mechanism. The double connecting rods are connected through a cross slide block mechanism, so that the four wheels form steering linkage, and the double connecting rods are provided with limiting mechanisms; in a translation mode, the cross slide block mechanism is matched with the limiting mechanism to restrain the relative position between the double connecting rods, and the crank can break through the dead point position and also can maintain the fou