Design Of Omnidirectional Mobile Platform Based On Mecanum Whee

With the development of modern industry and mobile robot technology,the traditional manufacturing industry has effectively improved the defects such as labor intensity,low efficiency and poor consistency in fixed-point processing and fixed-point assembly manufacturing methods.The mobile platform is a multi-functional intelligent logistics transfer and handling system,which provides highly flexible and automated transportation for modern equipment manufacturing,logistics and other industries.This method has improved the tradition defects in manufacturing.The omnidirectional mobile platform with the Mecanum wheel is widely used in modern industrial processing and logistics due to its strong carrying capacity,high flexibility,and the ability to achieve translation,spin and small space requirements in any direction transit.In this paper,an omnidirectional mobile platform equipped with Mecanum wheel is designed according to the actual needs of an enterprise.According to the specific design requirements,the function of the platform should be analyzed,and the specific design parameters of the platform are obtained.Furthermore,the overall structure of the mobile platform is designed,including the platform damping system,chassis and internal layout,which ultimately makes the entire mobile platform as compact as possible under the premise of completing the functional indicators.Then the three-dimensional model of the vibration damping system and the platform body is established,and the static and kinematics of the platform are simulated by ANSYS and ADAMS respectively to ensure the stability of the platform structure and the reliability of the motion.By constructing the kinematics model of the mobile platform from the theory,the positive and negative solutions are obtained.The relationship between the angular velocity of each driving wheel and the motion of the platform is obtained,and compared with the motion results under several typical conditions in ADAMS simulation,the correctness of the theoretical model of the platform is verified,which provides a basis for the motion control in the later stage of the platform.In addition,a control system design scheme for omnidirectional mobile platforms is provided,which mainly includes hardware system design schemes,introduction of various functional modules,electrical system design,and human.computer interaction interface design.The working principle and selection of the main functional modules of the omnidirectional mobile platform are elaborated,and the electrical layout design of the whole platform is briefly explained.Finally,the design and development of the platform upper computer operation interface is carried out.