| At present, the domestic research on the omni-directional mobile platform mainly focus on the 4Mecanum wheel omni-directional mobile platform, however, in some heavy load and super heavy load occasions, the bearing capacity of 4Mecanum wheel omni-directional platform is limited.With the development of aerospace,petrochemical, electrical components and ancillary products to a larger size and weight, overloaded omni-directional mobile platform has gradually become an ideal vehicle for large precision products.Research on the omni-directional mobile platform with 8 Mecanum wheels synergy drive control has become a new research trend in the country.The platform can carry a larger load and adapt to the transport between processes and assembly docking for larger size workpieces.In this paper, the8 Mecanum wheel omni-directional mobile platform as the object of research.(1)The kinematic equation of 8Mecanum wheel omni-directional mobile platform is established under the ideal condition.By using ADAMS software, the simplified virtual prototype of the platform is established, and the kinematic equation is simulated and analyzed.The maximum translational velocity of all directions of the omni-directional platform is analyzed.The motion characteristics of the double car linkage of the two sets of 8Mecanum wheel omnidirectional mobile platforms are studied, the simulation results show that the movement direction of the two platform is basically the same as that of the preset direction.(2)The main geometry parameters of the Mecanum wheel is determined.The roller generatrix equation is established with uniform spiral line instead of the original roller contour curve.On this basis, according to the principle of optimization, the structural parameters of the omni-directional wheel are optimized.For 8Mecanum wheel and4 Mecanum omni-directional mobile platform which are on different bearing, the omnidirectional wheel structure parameter is optimized, and by comparison, summed up a single omni-directional wheel bearing certain to adapt to multi-wheel drive collaborative platform for the optimal omnidirectional wheel parameter values.(3)Newton Euler method is adopted to establish the dynamics equation of 8Mecanum omni-directional mobile platform in which the friction resistance is considered.The friction coefficient of omnidirectional platform along different directions are obtained by experiment.The dynamic equation is simulated and analyzed by ADAMS software according to the model of platform prototype.The maximum acceleration of theomnidirectional mobile platform along each direction is analyzed.The research shows that when the movement direction of the platform is along oo×=+3,2,1,0nn9045)(,the friction resistance is the biggest, and the motor torque is the maximum.Therefore,use the required driving force when the platform along the direction of 45 degree and running at maximum speed to estimate the motor rated torque equipped with by platform.On this basis, combined with the different bearing of the omni-directional platforms, the required motor rated torque are estimated.(4)The 8Mecanum wheel omni-directional mobile platform system is designed, and completed the prototype of the platform. Finally, carried on the simple debugging to prototype, and the motion characteristics of the omni-directional platform are verified.In this paper, the kinematics, dynamics, and the optimization of the structure parameters of the omni-directional mobile platform of 8Mecanum wheel are studied,in order to realize the motion control, power configuration, and the series production,the structure design of the large tonnage platform, it provides a certain reference for the realization of this kind of products. |
PDF Full Text Request