Structural Design And Characteristic Analysis Of An Omnidirectional Heavy-duty Mobile Platform

The omnidirectional mobile platform equipped with Mecanum wheel has the characteristics of high efficiency,high precision and omnidirectional motion with zero turning radius.With the improvement of modern industrial automation,based on its own advantages,the omnidirectional mobile platform is gradually applied to the field of heavy industry,which can not only reduce human labor and ensure the safety of workers,but also realize the automation of heavy industry.However,the requirements of modern industry directly affect the structural design and performance characteristics of omnidirectional mobile platforms.This article designs an omni-directional heavy-duty mobile platform based on the assembly and transportation requirements of posture-adjusting products,and conducts theoretical research and simulation analysis on its performance characteristics.The contents are as follows:In response to the technical requirements of bearing heavy loads and restricting heights,the structure of the omnidirectional mobile platform is designed,including the design of the frame,the moving mechanism and the independent suspension mechanism,In particular,the layout of the mobile mechanism and the damping method of the independent suspension mechanism are designed.The Creo software is used to carry out 3D modeling of mobile platform design scheme,build control scheme,clarify control principle and select relevant control elements,and then process and manufacture it,assemble and debug,and then program the operation steps of the prototype operation.Based on the design of the dual-row 16-wheel structure scheme of the mobile platform,the kinematics is analyzed,and the relationship between the center of mass of the mobile platform as the output parameter object and the drive wheel system as the input parameter object is established by using the coordinate transformation method.Based on the motion characteristics of the mobile platform,the corresponding dynamic equation is established,and the relationship between the angular velocity,angular acceleration of the driving wheel and the external force is derived.Lagrangian method is used to analyze the vibration characteristics of the suspension mechanism of the mobile platform,and the vibration relations among the total mass,stiffness,damping,road excitation and the displacement of the mass center are established.Change the variable values of influencing factors,recalculate the vibration equation and output the vibration response results graph,thereby analyzing the influence of these factors on the vibration characteristics of the mobile platform.ANSYS software is used to perform finite element static simulation on the overall structure of the omnidirectional mobile platform,combined with the corresponding external forces of the working conditions,to analyze the maximum deformation in the overall structure,and to check the conformity of the overall performance to the requirements of heavy-duty transportation.Use ADAMS software to simulate the motion of the mobile platform,check the accuracy of the derivation calculation of the vehicle kinematics theory,and combine certain road excitations to conduct the corresponding motion simulation,and compare with the calculation results of the suspension mechanism vibration equation,the correctness of the results obtained by the two methods is mutually verified,and the stability of the mobile platform under discrete road excitation is also verified.