Research On Key Technologies Of Heavy Duty Mecanum Wheel Mobile Platform

The development of modern industry in China cannot be separated from industrial automation.In order to improve industrial production efficiency,the requirements for intelligence,synergy,integration and flexibility of mobile transport equipment in the production process are also increasing.In the transportation of heavy parts in narrow spaces,traditional mobile transport platforms are gradually replaced by omnidirectional mobile platforms due to their high transport costs and low utilization of factory space,among which mobile platforms based on Mecanum wheels have been attracting attention due to their advantages of all-round movement and strong load capacity in a plane.The Mecanum wheel is a mobile platform that has been attracting a lot of attention for its advantages in terms of all-round movement in a plane and high load capacity.In this paper,the Mecanum wheel-based heavy-duty mobile platform is designed with a double closed-loop anti-deflection trajectory tracking control strategy to achieve the motion of the Mecanum wheel-based mobile platform along a given trajectory under deflection load conditions.The main contents of this paper include:(1)The key components such as servo motors and reducers were selected in conjunction with the load-bearing requirements of the enterprise for the mobile platform and the functions that the platform should have.In order to cope with the impact of heavy load on the stability of the movement,the vibration damping floating system of the mobile platform is designed.A 3D model of the mobile platform design is established using Solid Works,and the structure of the mobile platform is simulated statically through ANSYS to verify its structural rationality.(2)The geometric structure and motion characteristics of the Mecanum wheel moving platform under off-load conditions are used to establish a kinematic and dynamic model of the Mecanum wheel under off-load conditions,and the ADAMS software is used to simulate the motion of the Mecanum wheel moving platform under no load and off-load conditions.(3)To address the impact of bias load on the motion accuracy of the Mecanum wheel moving platform,a double closed-loop anti-bias load trajectory tracking control scheme is designed based on the dynamics and kinematics of the Mecanum wheel moving platform under bias load conditions.The control scheme is based on the principle of sliding mode control,the Mecanum wheel moving platform external loop dynamics controller is designed,and a disturbance observer is introduced to compensate for the disturbance caused by bias load in Real-time compensation.An improved deviation-coupled controller using a new speed compensator and PID controller is designed as the inner-loop controller for the Mecanum wheel-moving platform.Simulink software is used to simulate the algorithm and verify that the control method can track well for different given trajectories.In summary,this paper designs a heavy-duty Mecanum wheel-mobile platform with a vibration-damping floating system capable of adapting to uneven road surfaces.Based on the dynamics and kinematics of the Mecanum wheel-mobile platform under biased load conditions,a dual closed-loop anti-deflection trajectory tracking control scheme is proposed to improve the trajectory tracking accuracy of the Mecanum wheelmobile platform under biased load conditions.