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《Journal of Machine Design》 2009-12
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Omni-directional mobile platform based on hub motor drive

LU Qi,SHEN Lin-Yong,ZHANG Ya-nan,QIAN Jin-wu(School of Mechatronic Engineering and Automation,Shanghai University,Shanghai 200072,China)  
With the combination of omni-directional wheel and the driving technology of hub motor a kind of new typed omni-directional mobile platform,which could achieve movements in arbitrary direction and has greater advantage when applied to the situation of narrow space,was designed.A large number of small rollers were distributed vertically on the rim of hub,and electric motors were mounted in every hub.The platform adopted hub motors for direct drive,thus it possesses advantages of big torque,less wastage and compact structure compared with the traditional motors.
【Fund】: 国家863计划资助项目(2006AA04Z224);; 上海市重点学科基金资助项目(Y0102)
【CateGory Index】: TP242.6
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