Design And Experimental Research Of The Omni-directional Parking Robot Structure

Recently,with the rapid increase in the number of cars in our country,the traditional parking lot has not been able to meet the demand for parking.To solve this problem,the intelligent stereoscopic garage which has advantages of smaller size,more parking,more efficient has become a hot spot of research.The parking robot which is the core equipment of intelligent stereoscopic garage have fatal research significance.On the basis of summarizing the advantages and disadvantages of existing parking robots at home and abroad,we developed a highly active,large carrying capacity and low cost omni-directional parking robot.The main research contents as follows:(1)According to the problem of low degree of automation,single path of motion and low efficiency of parking robot,the relevant technical indicators of parking robot is designed with actual condition take into consideration.At the meantime,the entire scheme and the key parts of parking robot will be designed.The scheme adopts six-wheel structure with double drive wheel arranged diagonally which can greatly improve the motion flexibility,carrying capability and working stability of parking robot.(2)The whole structure of parking robot will be designed with Solidworks.The strength of body structure of parking robot and the wheel's balance device will be analyzed based on finite element analysis with Ansys.At the same time,the body structure will be analyzed based on modal analysis which can avoid the resonance caused by external excitation during working so that make the parking robot more stability.(3)After analyzing the motion states of parking robot,a kinematics algorithm based on six-wheel structure with double drive wheel arranged diagonally will be provided to realize the parking robot can move omni-directionally.Then the kinematics model will be established and its correctness will be verified by analyzing the transverse motion and in-situ turning movement states with Matlab.At the meantime,the linear,transverse and in-situ turning movement of parking robot will be simulated with ADAMS to analyze the movement accuracy of parking robot so that the foundation of omni-directional motion control will be established.(4)After analyzing the principle of worm-screw lifting mechanism of parking robot in detail and establishing the dynamic model of lifting mechanism which based on D'Alember theory,the results show that the load weight and lifting height are the key factors of effecting lifting stability.And the dynamic model will be simulated based on dynamics with ADAMS,by changing the influence factors to determine the best lifting height to improve the motor's response speed and decrease the motor's amplitude of vibration to make the lifting process more synchronal and stable.(5)Establishing the experiment platform with parking robot.After finishing the experiments of in-situ turning movement,loading and auto-charging,the results show that the motion error meets the design requirements,with 1000 trouble-free loading shows that the lifting mechanism meets the design requirements and the success rate of automatic charging is up to 98%.It is verified that the structure design of parking robot is reasonable and meets the design requirements of various indicators.