omni-directional wheels

MA Fu-dong，LUO De-yuan，LIANG Hao-feng，WANG Zhi-jun，LI Run-guo

（School of Mechatronics Engineering，University of Electronic Science and Technology of China，

Chengdu 611731，China）

Abstract：Aiming at the problems of changing or carrying actors，props and sceneries on stages，the forms of motion，omni-directional wheel chassis system，rotary table support system，damping system and control system of similar products were investigated. After the speed of four driving wheels and the movement track of the device were analyzed，a kind of mobile device based on omni-directional wheels，ARM Cortex-M4 embedded processors and CAN bus were presented. A support structure of the rotary table based on a thrust

bearing and truckles was designed，and a shock absorption structure based on the rail lines combined with spiral springs was established. Keil μvision 5 was used as the development environment of program compilation to control the speed of the driving motors. SolidWorks was applied to 3D modeling，motion analysis was applied in inverse kinematics and forward kinematics. The results indicate that the mobile stage device could realize any given curves flexibly，and had the high space utilization，stability and reliability.

Key words：stage；omni-directional wheels；shock absorption；SolidWorks；Motion analysis