Wheeled chassis includes two-wheel differential chassis, three-wheel omnidirectional wheel chassis, four-wheel omnidirectional wheel chassis, four-wheel automobile chassis (also known as four-wheel Ackerman chassis), and four-wheel skid steer chassis, etc.. Usually it follows the terrain to choose wheel sizes and materials. The common chassis in life has front-wheel steering and front-wheel drive. The chassis features, structure and characteristics are as follows:
Tracked robot chassis
The tracked robot chassis is well adapted to road conditions and can easily cross obstacles, but it moves slowly and is not flexible enough. The tank is a tracked armored combat vehicle, the wheels roll in the tracks, and when encountering sandy, snowy, muddy and other complex terrain, the wide tracks can disperse the weight of the tank, and the tank is easy to prevent from sinking.
Spherical robot chassis
The spherical robot has good dynamic and static balance, and the closed chassis allows it to drive in unmanned, dusty, humid or corrosive harsh environments, and usually has amphibious functions, and is widely used in planetary exploration, environmental monitoring, national defense equipment, entertainment and other fields.
Chassis suspension
Chassis suspension is a structure that connects the wheels to the body, which can support and cushion the body. It is divided int: non-independent suspension and independent suspension.
Non-independent suspension: The wheels on both sides are connected by an integral frame, generally equipped with elastic suspension, and the system is under the frame or body. Its advantage is of simple structure, at low manufacturing cost, and easy to maintain and repair, but the disadvantage is of poor stability and shock absorption.
Independent suspension: It refers that each wheel is installed on the body or axle through a set of suspension unit, the axle is disconnected, and the middle section is fixed on the frame or body. The advantage is that the wheels on both sides can move independently without affecting each other, and they have strong cushioning and shock absorption ability.
Mecanum wheel
The Mecanum wheel was invented by the Swedish scientist Bengt Erland IIon in the 70s of the last century, and is currently widely used in logistics and warehousing automation, disabled people travel and robot competitions.
The Mecanum wheel is mainly composed of hub, roller and roller shaft. The hub is a support frame, and the rollers are arranged in parallel to the direction of the angle of 45° with the hub. Generally, robot has two left-handed wheels and two right-handed wheels. The left-handed wheels and right-handed wheels must be mounted in an X-shape to ensure the robot to move in all directions.
This omnidirectional movement is based on the principle of a central wheel with many axles located around the perimeter of the wheel, and these angled perimeter axles convert a portion of the steering force of the wheel to a single wheel normal force.
Depending on the orientation and velocity of the respective wheels, the final synthesis of these forces produces a resultant force vector in any desired direction. This ensures that the platform can move freely in the direction of the final resultant vector without changing the direction of the wheel itself.
There are many small rollers diagonally distributed on its rim, so that the wheel can slide laterally. The busbar of the small rollers is special in that when the wheel rotates around a fixed mandrel, the envelope of each small roller is cylindrical, so the wheel can roll forward continuously.
The Mecanum wheel is compact and flexible, and it a very successful all-round wheel. The combination of 4 new wheels offers flexible and convenient all-round movement.
The flexibility of the warehousing and logistics vehicle equipped with the wheels has been greatly improved, and even if the activity space is limited, the cargo loading and unloading can be effectively done by the flexible movement of the wheels. Wheelchairs equipped with the wheels will also make it easier for disabled people to travel.
