Development Of Omnidirectional Self-Propelled Lifting Platform Based On Mecanum Wheel

Modern industries has more stringent requirements on the synergy,integration and diversity in the production process.In order to meet these requirements,mobile platform came into being.Among various omnidirectional mobile platforms,the omnidirectional mobile platform based on Mecanum wheel is widely used in modern industrial production due to its flexibility and low demand for working space.An omnidirectional mobile platform based on Mecanum Wheel was designed based on the actual needs of a company.The three-dimensional digital model of the designed platform was established.Static analysis of the platform was performed using ANSYS software to provide a basis for the structural design of the mobile platform.The kinematic models of the omnidirectional self-propelled mobile platform under ideal condition and slippage condition were established,respectively.And relationship between the angular velocity of each drive wheel and velocity of the geometric center of the mobile platform was deduced.Simulation of the forward movement,traverse movement and spin movement under ideal working condition and center of gravity shift condition were performed using ADAMS software to provide a basis for the movement control of the mobile platform.The circular run-out experiment of the Mecanum wheel was performed.Ultrasonic sensors used on the mobile platform were calibrated.The motion parameters recognition model of the platform was established and the motion control variables were corrected to ensure the operational reliability of the platform.Based on the established kinematics model,a control system with a Beckhoff programmable motion controller and the corresponding control software were developed.The running state of the prototype indicates that the developed omnidirectional mobile platform can meet the design requirements.