Research on a medium-tracked omni-vehicle

Abstract

Existing omnidirectional vehicles have disadvantages of poor load capacities and practicability. Based on the omnidirectional mobile track and an adapted symmetrical layout, a novel medium-tracked omni-vehicle was designed. The kinematic and dynamic model of the vehicle was established, and the anisotropy of the velocity and acceleration of the vehicle was analyzed. With a counterbalanced forklift as the design goal, a virtual prototype and real prototype of the vehicle were established. The prototype had a no-load weight of 5 t and a full-load weight of 7 t. Simulations and experiments were carried out for various omnidirectional movements of the prototype, such as longitudinal, lateral, multi-angle diagonal, and center-point steering motions. The simulation and experimental results showed that the vehicle performed omnidirectional motion in the plane under no-load and full-load conditions. The translational motion of the prototype exhibited anisotropic motion. The causes of the trajectory and velocity deviation during the motion of the prototype were analyzed.