Articulated formula planet wheel 4 wheel driven vehicle four -wheel differential steering model

The utility model relates to an articulated formula planet wheel 4 wheel driven vehicle four -wheel differential steering model belongs to vehicle control field. This car is 4 wheel drive articulated structure, adopts the distributing type drive, and its mechanical system mainly comprises two parts: planet wheel mechanism and articulated formula frame. This car does not design special steering mechanism, and every planet wheel relies on the differential of each round to realize turning to by independent motor drive. More centralized drive vehicle, but 4 planet wheel independent controls have increased the manipulation flexibility of vehicle, have also saved drive mechanism, make the structure simpler, have reduced the cost.