Research On Design And Performance Of Omnidirectional Vehicle Based On Mecanum Wheel

Automatic guided vehicle(AGV) based on Mecanum wheel with the characteristics of high efficiency, low energy consumption and omni directional mobile, and application fiedds of using is more and more widely. Due to the particularity of Mecanum wheel structure and selection of navigation mode’s guidance has a profound impact on AGV performance; therefore, the research has important theoretical and practical significance.Determine the overall scheme of the ontology of AGV, and the structure and system of each component are explained in detail; The guidance mode of double measuring wheel is put forward and give the principle of description; Using the Solidworks software establish the each component of AGV’s solid model and assembly, and then mapping project drawings. Finally, the omnidirectional vehicle based on Mecanum wheels is produced.The mathematical model of double measuring wheel guiding method and AGV’s structure is set up. It explains the relationship between two measuring wheels’ rotate speed and angle and four Mecanum wheels’ speed and the speed of AGV’s geometric center and the angle of AGV from theory, and the theoretical basis for motion control is laid. The kinematics equation of the slip factor is concerned. According to the simulation of AGV’s different driving direction and the specified distance in horizontal and vertical displacement deviation, and obtaining the sliding rate of Mecanum wheel’s shaft and radial direction, for the further study of kinematics analysis with sliding providing a basis to follow.Using ANSYS 14.5/LS-DYNA software to finite element dynamic simulation of Mecanum wheel, the small deformation of the rolls is analyzed and the error caused by deformation is given the method of compensation. Using the ADAMS software to make the simulation analysis of kinematics model, the results show that, the AGV’s position and posture can be accurately detected through the double measuring wheels, and verufing the feasibility of double measuring wheel’s guiding method and the reliability of omnidirectional vehicle’s omnidirectional mobile.The theory of "envelope into circle" is verified through circular runout experiment validation. The omnidirectional vehicle’s motion performance, load capacity, battery life, driving location precision and climbing angle are tested through the field test. The results show that, the movement performance of omnidirectional vehicle is reliable and the test targets meet the design requirements.