Design and Verification of Underactuated Coupled-Commutation Omnidirectional Mobile Integrated Camping Robot Chassis

To solve the poor mobility of traditional camping vehicle chassis in complex terrains and confined spaces, this paper proposes an underactuated omnidirectional mobile chassis for outdoor camping vehicles. The chassis adopts a coupled commutation mechanism (double-crank elastic special-shaped connecting rods cross sliders), allowing each wheel to realize two motion modes (omnidirectional translation, in-situ rotation) with just one drive motor, reducing system complexity and cost. A control system based on the RoboMaster Development Board C Type integrates PID angle-loop control and motor speed-current dual closed-loop control for motion stability. Kinematic models for these two modes are established to derive the wheel parameter-chassis motion relationship. MATLAB R2023b-ADAMS 2024 co-simulations show the chassis maintains attitude stability under S-shaped curve, circular curve, and in-situ rotation; Qualisys 3D motion capture experiments confirm its stable attitude in omnidirectional movement.