摘要本设计主要研究了全方位移动底盘的设计，简单的说，就是让一个底盘可以横向侧移，前后平移，任意旋转半径运动。移动机构是移动平台运动的基础。而全方位轮本身对于精度的定位要求很高，在原地可以自我调整及其任意方向的运动，所以它拥有这些独特的特性，一般的移动机构基本比不上。对那些研究移动机构的有着很重要的意义。85045

     要使它可以全方位移动，既使用纳姆轮来实现，所以本设计也主要设计了纳姆轮的机械结构。纳姆轮的主要工作原理就是：纳姆轮的外围上由若干个小轮子组成，所以就可以横向平移。而轮子是围绕中间的转轴运动，转动时整个轮子都回贴着地面运动，随机调整运动方向。所以它便可以实现全方位移动。

     设计完主要的零件后，还要对其进行三维建模，基于Solidworks软件对整个机构建立模型，依次为电机，车轮，车轮托架，车轮轴，底架，轮毂，螺纹套，纳姆轮以及一些标准件，将这些零件凑在一起就形成了可全方位移动的底盘。

     三维建模弄好以后，还要对其进行运动仿真，仿真就是将你所做的底盘进行模拟运动，看所做的效果怎么样。做完所有的步骤之后，回头发现一个设计做要做的工作量很多很多，让我在大学四年里感受到了知识的力量。

毕业论文关键字：全方位，移动底盘，结构设计，运动仿真

Abstract  This design is mainly studied the design ofomni-directionalmobilechassis, simply put, is to make a chassis can transverse lateral,beforeand after the translation, rotation radius of any movement。 Mobilemechanism is the foundation of the mobile platform movement。 The omni-directional wheel can realize high precision determine, in situ adjustment of posture and two-dimensional plane any continuous movement trajectory, a general wheeled mobile mechanism can not replace the unique features of the moving walk is heavy to sense。

      To make it can omni-directional mobile, use both wheels to realize, so this design is mainly design the mechanical structure's wheel。 's round of the main working principle is: on its rim oblique roller, there are many small wheels to cross slip。 Small roller bus is very special。 When the wheel around the fixed wheel spindle rotates, each small roller envelope for the cylinder, so the wheel can rolling forward continuously。 It's round wheels can become the omni-directional mobile。 

     After designing the main parts, but also on the 3 d modeling, model which is based on Solidworks software for the whole organization, followed by motor, wheel, wheel bracket, car wheel, chassis, wheel hub, thread set, round, and some standard parts, these parts together to form the omni-directional mobile chassis。 

     Ok so three-dimensional modeling, but also on the motion simulation, the simulation is to chassis simulated exercise you do, how see the effect。 After finish all the steps, looked back then found a design to do want to do a lot of a lot of work, let me in the four years of college felt the power of knowledge。 

Keywords: Omni-directional ，mobile chassis，structural design ，movement simulation。

目  录

第一章  绪论 1

1。1全方位移动底盘设计的目的和意义 1

1。2  全方位移动底盘研究的现状与发展 1

1。2。1底盘研究的现状 1

1。2。2全方位移动底盘的发展 1