Optimization And Research Of Omnidirectional Intelligent Platform Vehicle Ride Comfort Based On Hydro-pneumatic Suspension And Mecanum Wheel

The research of the paper is is based on an omni-directional intelligent vehicle based on Mecanum wheel. Mecanum wheel is a kind of omni-directional mobile mechanism with excellent performance and wide application. It can achieve three degree of freedom movement in the plane flexibly by the omni-directional mobile robot. In the need for accurate positioning and high precision navigation occasions, it can successfully complete the handling, assembly, detection, nuclear operation and other complex tasks.For in-depth study of the Mecanum mechanism motion characteristic and dynamics, this paper on the dynamics were modeling and Simulation of the dynamics characteristics are analyzed, and based on the vehicle ride comfort, the structure of the oil and gas spring for optimization design. The simulation results show that the suspension after optimization can effectively improve the ride comfort. The research work carried out mainly includes:(1) Mecanum wheel roller characteristics, study the mechanism of the omnidirectional movement, analyzing the theoretical curve roller contour forming principle, and carries on the parameter modeling, established roller generatrix of several commonly used approximate modeling equation, to calculate the related parameters of the roller, and analyzes the structure and material.(2) Based on the research of Mecanum twelve wheel mobile platform, this paper establishes its kinematics model, and derives its inverse kinematics equation of Jacobi matrix, and get the necessary conditions for the omni-directional motion of the platform. Then the vehicle dynamics model is set up in ADAMS, of which the road is a rigid two-dimensional random road, the roller is in contact with the ground parameters is measured by experiment. The model simulation and analysis of the causes of the error caused by its motion characteristics and simulation results are also analyzed.(3) In this paper, we design a single air chamber oil and air suspension for this platform, and establish the mathematical model of the suspension in Matlab, and analyze the characteristics of stiffness damping and the influence of structural parameters on the model by simulation. At last, the paper established the joint simulation optimization model, the weight coefficient method is used to established the objective function and bonding conditions and motion characteristics of the vehicle platform to establish the optimization constraints, platform vehicle ride comfort based on, with the structure parameters of hydro pneumatic suspension as design variables using genetic algorithm to optimize. Through simulation analysis and optimization results, platform vehicle longitudinal conditions of sprung mass vertical to vibration and pitch vibration and wheel load conditions have been improved.