对一种具有越障功能的轮式全方位移动机构———车轮组机构进行了研究 ,详细论述了机构的组成和设计要求。该机构不仅能够实现平面上的轮式快速运动 ,而且能够越过一定高度的障碍。该机构不需要传感装置来检测障碍 ,不需要复杂的辅助机构来实现平面上运动和越障运动之间的转换 ,实现机构简单 A wheeled omni-directional mobile mechanism with obstacle obstacle --- wheelset mechanism has been studied, and the mechanism’s composition and design requirements have been discussed in detail. The mechanism not only enables rapid wheeled movement on a plane, but also overcomes obstacles of a certain height. The mechanism does not require sensing devices to detect obstacles, does not require complex auxiliary mechanism to achieve the movement between the plane movement and obstacle movement, to achieve a simple mechanism