Design On Chassis And Power System Of Omnidirectional Mobile Platform

At present, with the development of automatic assembly line technology, the mobility performance of intelligent launch vehicle platforms has a great influence on dimensions of operating space in vehicle factories or enterprises as well as the improvement of the productivity. Traditional mobile platforms have some certain disadvantages in mobility and operation precision for the workplaces with limited space, higher load bearing capacity and accuracy requirement. Taking the chassis and power system of the Omni-directional mobile system as the research object, this paper is based on a kind of specific transport platform which serves aircraft engine assembly and delivery. Key technical problems and design methods are further discussed and analyzed in this thesis.Firstly, considering the actual project requirements, the chassis and the power system of aircraft engine transport assembly platform are designed based on the theory of omnidirectional mobile theory in this paper. Secondly, on this basis, the kinematics simulations are carried out on different working conditions of the platform before and after barycenter deviation and the tests are completed by using the simplified real vehicle prototype. The combination of the simulation and testing result is used to analyze the running accuracy and the causes of deviation. Finally, according to the deviation of movement, the corresponding deviation control strategy is designed and the control effect of this method is tested by the combined simulation method of MATLAB and ADAMS software. The test results show that the design of omnidirectional motion platform has a good mobile performance, the corresponding deviation control strategy could largely restrain the lateral and longitudinal motion deviation which was caused by the deviation of loading barycenter, and it has better potential for practical applications. The main research contents of this paper includes:1. The operation principle of Omni-directional mobile system and the study of roller modelling methods. Firstly, this paper analyzed the moving characteristics of Mecanum wheel and the Omni-directional mobile system. The error of commonly used busbar approximate equations were compared after studying the roller machining modeling methods, which provided the basis for the structure design of the loading and unloading platform chassis.2. The structure design for engine loading and unloading platform chassis. Firstly, the structural arrangement plan of the platform was determined. Based on this frame, the principles were analyzed and structures were designed for drive and transmission components, Omni-directional wheel structure, storage devices and some other parts. On this basis, using the finite element software ABAQUS, the stiffness and strength of key parts in the chassis were analyzed and checked.3. Simulations of loading and unloading platform for working condition and simplified real vehicle test. Based on kinematic theory of the eight-wheel Omni-directional platform, the platform conditions were analyzed, different working conditions with and without center of gravity shift were simulated by ADAMS virtual prototype technology. And these result were compared with the simplified real vehicle test. The cause of lateral deviation was analyzed, which provided data support for deviation control.4. Simulations of deviation control in different working conditions that the center of gravity of the platform shifted. An effective control strategy based on the above lateral deviation was designed. The ADAMS and MATLAB were used to achieve joint simulation, whose results were utilized to verify the effectiveness of that strategy.