Design And Control Of Spherical Mecanum Wheel Trolley

Spherical Mecanum trolley is an important part for automatically installating and unloading the nozzle dam of the steam generator in nuclear power plant in the whole link.When the trolley works,it carrys nozzle dam has partial disassembled from the hole passed by a staff member into the hemispherical inner chamber of steam generator,and moves to the target area above the hole in accordance with the planned route,which makes preparations for the manipulator to complete positioning and installating(unloading)between the target hole and nozzle dam for the next work.The study found that the traditional method of nozzle dam transport mainly depends on a number of experienced staff cooperative carrying,and the workers' residence time was only 90 seconds,which is a high technical requirement for the staff and has a radioactivity effect on the staff body.The way of manpower transport is not suitable for long-term work,also not accord with the "2025 Chinese manufacturing" concept.According to the application requirements and characteristics proposed by the circumstances of steam generator in nozzle dam transportation on the spherical Mecanum car design and control,this paper studies in detail the design theory of spherical Mecanum wheel and deduced the profile design of spherical Mecanum roller based on the design theory of the plane Mecanum,completes the detailed design of the supporting board related Mecanum and the fixing device,cushioning mechanism and vehicle,besides,the permanent magnet adsorption device was designed to achieve the required 40° climbing work requirement for the trolley.The kinematics and kinetics of the Mecanum vehicle in spherical surface were studied.In order to reduce the spherical sliding phenomenon of Mecanum car in motion process in the spherical due to the speed fluctuation,in this paper,the synchronization control algorithm based on deviation is applied with speed loop based on PID control method which improves the coordination degree of the four-motor independent control.The research work of this paper mainly includes the following aspects:(1)Spherical Mecanum theory research and structural design.It mainly includes: systematically researching the theory of spherical Mecanum,the design of spherical Mecanum roller contour curve,the design of Mecanum support plate,the design of motor fixing device,etc.the correctness of the spherical Mecanum theory is verified in perspective.The important parts of spherical Mecanum are analyzed with the software of finite element simulation.Based on the system's 40° climbing requirement,the detailed design and simulation of the permanent magnet adsorption device unit applied to the spherical Mecanum wheeled car was performed and the size of the permanent magnet adsorption device required for the adsorption force was determined.(2)Research on kinematics and dynamics of spherical Mecanum trolley.Based on the special working conditions of the spherical motion,the kinematics analysis of the spherical Mecanum wheeled trolley was converted to the corresponding inclined,and the inverse kinematics equation of the spherical Mecanum wheeled trolley in the sphere was deduced;meanwhile,the analysis of the statics of the Mecanum wheel trolley on the spherical surface is researched and the problem of possible slipping due to insufficient friction is eliminated.Finally,the dynamic equation of the spherical Mecanum wheel trolley in the spherical surface is deduced using the Laws equation of the incomplete system.(3)Improved deviation coupling synchronization control strategy and algorithm design.Based on the analysis of spherical Mecanum inverse kinematics equations,the deviation coupled synchronous control strategy is improved,and the PID control algorithm for the speed of a single DC brushless motor is also applied to realize the requirement of the following precision and synchronization precision of the car.The hardware circuit design and the related control algorithm software are completed.Finally,the ADAMS and MATLAB co-simulation are used to verify the realization of the all-round ability of the spherical Mecanum trolley in the spherical movement and the goal of the nozzle dam handling.