| With the expansion of manufacturing scale and the development of automated control technology,the omni-directional wheeled mobile platform equipped with Mecanum wheel can be widely used in industrial automation and warehousing logistics and other fields.Mecanum wheeled omni-directional delivery platform is a full range of mobile platform with rapid development and high technical requirements.Unlike the ordinary cylindrical wheels,the outer wheel of Mecanum wheels touches the ground in a straight line,but contacts the ground with a pair of high and secondary sides.The impact affected by the ground in the process of rolling seriously affected the load performance of Mecanum wheel and reduced the service life.So,it has important engineering significance to improve the force condition of Mecanum wheel and improve the stability and load capacity of Mecanum wheel.First of all,from the aspect of Mecanum wheel’s structure,a double-row cross-improved Mecanum wheel structure is proposed to analyze its contact state with the ground to solve the problem of deteriorated stress by analyzing the switching process of tire-soil interaction of Mecanum wheel.Then,using ADAMS dynamics simulation software to compare the three operating conditions(straight line,transverse line and zero radius rotation)of the single-row Mecanum wheel and the double-row cross-improved Mecanum wheel omni-directional mobile platform based on the dynamic theory analysis,exploring the pros and cons of double-row improved Mecanum wheel in terms of stress conditions,stability and so on,so as to ensure the feasibility of double-row crossed Mecanum wheel.Finally,in order to further improve the stress condition of Mecanum wheel,the force analysis of the Mecanum wheel core roller was carried out.Combined with Hertzian contact and finite element method,calculating the deformation and stress strain at different contact points of roller profile under working load.According to the deformation of different,the profile modification of the roller contour are optimized and modified to make the force and deformation more uniform,so as to ensure the operational reliability of Mecanum wheel.Through the design and analysis of the above,the double-row cross-improved Mecanum wheel structure designed in this paper can improve the bearing situation of Mecanum wheel,providing a theoretical reference and related basis for the Mecanum wheel omni-directional carrying platform subsequent design and practical application. |
