Research On Performance Of Mecanum Wheel Omnidirecional Mobile Platform And Multi-degree-of-freedom Manipulator

Recently,when recearching Mecanum wheeled mobile platform,researchers mainly consider its autonomous navigation and ignore its structural performance.The selection of Mecanum wheels,motor models and suspensions depends on the experience of workers,which leads to a wide gap in platform movement performance.When Mecanum wheel rotates,stress concentration focuses on the edge of the roller.Unreasonable design will increase the stress and reduce the service life.Hence,it is necessary to study the structural performance of Mecanum wheeled mobile platform.In this paper,the three-dimensional model of multi-group Mecanum wheel mobile platform,established by ADAMS,not only verifies the correctness of the kinematics and dynamics equations,but analyzes the dynamics of four common motion conditions as well.And then,it is obtained that the relationship between the acceleration of the platform and the output torque of the motor,which provides a reference for the selection of the driving motor.At the same time,by comparing the vibration intensity,the maximum average acceleration and the maximum stress of the roller edge of 20 sets of platforms,the optimal Mecanum wheel roller configuration scheme is determined.In the same circumstances,the mobile platform with and without suspension are analyzed to get trajectory and then analyze them,which proves the importance of installing suspension.Finally,the kinematics equation is used to analyze the six-link manipulator installed on the mobile platform.The analytical solution of inverse kinematics can be serve as a reference for the development of manipulator control algorithm.