| The traditional mobile transportation technology can’t meet the demand of efficient transport of large and heavy components in the compact space in the factory. The operation platform with single function will also increase the cost of equipment and reduce the utilization rate of the space of the factory. An overloading platform with omni-directional mobile function can easily solve these problems. The omni-directional overloading mobile platform can complete the transport mission flexibly in the limited working environment and it can carry a variety of auxiliary working platform to meet the needs of production by integrating different functions. These will not only help to optimize the configuration of the enterprise equipments but also to improve the production efficiency and economic benefit.Taking the omni-directional overloading mobile platform as the research subject, this thesis research work is as following:(1) On the basis of structure design of omni-directional wheel, a parametric design model of omni-directional wheel was optimized. A roller parameter calculation software was designed to simplify the design process. The maximum stress and deformation of contact were worked out and the trends of the contact stress and strain were studied based on Hertz theory. In avail of the analysis software, the strength and intensity of key parts were identified examined. Based on the study, the optimal structure selection reasch of overloading omni-directional wheel was completed.(2)By deeply exploring different suspension systems, the development and design of hydropneumatic suspension were made to solve the problem of large intertia and stability issues when the omni-directional overloading mobile platform was moving. The nonlinear characteristics of hydropneumatic suspension were analyzed by simulation, which verified the suspension can improve the ride comfort of the mobile platform.(3)The frame structure of omnidirectional mobile platform which loads under 10 tons was emphatically studied. The strength and intensity of the frame have been analysised and checked. The dynamic characteristic research of the frame has been finished.(4)Research on multi-wheel platform has been expanded to solve the limitations of omni-directional overloading mobile platform with four wheels. The kinematics equations of the mobile platform with eight wheels were studied and the simulation was performed on the typical movements of the eight-wheel omni-directional systems. The result proved that the platform with eight wheels can function well in omni-directional movement. |
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