Design And Experimental Study Of The Omnidirectional Mobile Robot Suspension System

The omnidierctional mobile robot,based on the Mecanum wheel,is vibrated by the sequential contacts between the rollers and the road in the process of driving,it influences the running smoothness of the robot,the safety of the carrying article and the stability of the control.In experimental study,simple suspension mechanism is designed to isolate vibration,and there is less deep study on the design and mechanical properties of the suspension system.In the face of the need of heavy load and high precision in the future,the research of suspension system is indispensable.In this paper,the omnidierctional mobile robot is seen as a platform and the suspension system is employed as an experimental object.Based on the combination of theoretical design,dynamic simulation and experimental verification,this study is focused on the study of the structural design,mechanical properties and vibration isolation performance of the suspension system.According to the design principle of Mecanum wheel and the technical requirements,the wheel's structure parameters is determined.The relationship between the rotational speed of each wheel and the speed of omnidirectional mobile robot is analyzed.A suitable frame structure is designed and its stability is verified by finite element analysis.On the basis of analyzing the structure of various suspension systems,a trailing arm independent suspension is designed for Mecanum wheel,the vibration model of the suspension system is established,the main parameters and stiffness are determined,and the optimal damping ratio of the suspension system is matched according to the ride comfort and the stability of the operation.Considering the robot and the wheel,the design of the trailing arm is completed,and a three-dimensional model of the omnidirectional mobile robot with suspension system is established.It studied the simulation model of omnidirectional mobile robot,aiming at the typical work characteristic,Recurdyn is used to simulate the omnidirectional mobile robot with or without suspension system.The simulation results of the two structures are compared,the effect of vibration isolation is obtained by comparing the simulation results of the two structures.Finally,the mechanical property test of the omnidirectional mobile robot with suspension system was carried out,and the mechanical property of the omni-directional mobile robot without suspension system is compared.The results showed that the suspension system had better effect of vibration isolation on the wheel excitation.