Design And Research Of The Omni-direction Mobile Robot Platform Oriented To The Storage And Leakage Inspection Of Dangerous Chemicals

With the development of the national economy,the development of security has become a more and more important topic,in which the safety of dangerous environment and other similar high-risk environments is increasingly affecting the safety of social and economic people.So it is more and more important to realize the omni-directional real-time patrol platform for this dangerous environment.The omnidirectional mobile platform based on Mecanum wheel has excellent performance,and it can realize flexible three-DOF movement in workspace flexibly.And in the process of real-time patrol,this kind of platform is more suitable for the application of this kind of environment because of its driving stability and accurate localization.The Omni-direction mobile patrol platform based on Mecanum wheel is a typical incomplete constraint system,which is obviously influenced by the outside world during its movement.Because the contact between the whole platform and the working ground is achieved through the contour profile of several small rollers,the emergence of stress concentration deformation is unavoidable.Furthermore,due to the influence of the axial force and the ground in the process of the Mecanum wheel itself,the skidding of the whole machine can not be neglected,which will affect the stability of the patrol platform.Therefore,the research on the deformation and slippage of the small rollers on the platform is a prerequisite for improving the stability and accuracy of the patrol platform.1,the modeling method of the contour profile curve of the small roller on the Mecanum wheel has been studied,and the required data has been calculated by the classical modeling method,and the material needed for the small roller also has been analyzed.2,the full to mobile platform chassis type determination.Firstly,the all kinds of the structure types of the mobile platform are completely compared,and the selection of Mecanum wheel is based on this,and the corresponding structure is checked and analyzed,finally the type of the necessary parts is selected by the analysis data,and the analysis result of some key parts performance is given and quantified.And the key components are modeled and analyzed to obtain the performance curve.3,the kinematics equation of the four-wheel motion of the omnidirectional moving platform is established,and the result of the equation is solved.and establish a kinetic model.The action characteristics of three degrees of freedom are analyzed by simulation software.And the prototype is tested accordingly.