| 摘要 |
The present invention refers to a locomotion modularized mechanism for omnidirectional wheels. The invention is characterised in that it is assemblable and the parts thereof have a geometric design specially created for acting as a container of three sections which interact for motorizing the omnidirectional wheel arrangement. The three sections that form the apparatus are: the actuator section; the speed reducer section, and the rolling section. The present invention has a passive rotation section, which is formed by an axis that is rotated and which has a fixed arrangement of two omnidirectional wheels; the passive rotation section has an indirect interaction with the active rotation section, which includes a reductor of speed that is motorized and reduces the speed and increases the torque of the wheels in a 5:1 ratio. The actuator section allows the motor thereof to be exchanged since the motor sizes are compatible to be assembled to gear boxes of a commercial motor family. The pr esent invention is useful for integrating different locomotion systems as independent tractions, which are attached by screws to the chassis of a mobile robotic platform intended to create kinematic configurations with different contact points.
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