基于快递万向小车的运动学仿真研究
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摘要
结合实际需求设计了一款快递万向轮的小车,根据具体的设计要求对万向小车应具备功能进行了分析,从而得出了万向小车的具体设计参数。进而对万向小车的整体结构进行了设计,通过对快递万向小车轮组布局设计及运动学特性进行研究与分析,推导出万向小车的正逆解方程式即运动状态量和运动控制量之间的关系表达式,验证快递万向小车的Mecanum轮运动原理;运用ADAMS仿真系统分析了基于Mecanum的快递万向小车的几种典型运动,验证了运动学万向小车模型的正确性、可靠性。
Combined with the actual demand, a car universal wheel express is designed, according to the specific design requirements of the universal car should have the function of the analysis,so as to get the specific design parameters of the universal car. Then,the overall structure of the universal car is designed. By studying and analyzing the layout design and kinematics characteristics of the express universal car wheel set, the positive and negative solution formula of the universal car,namely the relationship expression between the motion state quantity and the motion control quantity, is derived to verify the Mecanum wheel movement principle of the express universal car. Several typical motions of express universal car based on Mecanum are analyzed by using ADAMS simulation system,and the correctness and reliability of kinematics universal car model are verified.
Combined with the actual demand, a car universal wheel express is designed, according to the specific design requirements of the universal car should have the function of the analysis,so as to get the specific design parameters of the universal car. Then,the overall structure of the universal car is designed. By studying and analyzing the layout design and kinematics characteristics of the express universal car wheel set, the positive and negative solution formula of the universal car,namely the relationship expression between the motion state quantity and the motion control quantity, is derived to verify the Mecanum wheel movement principle of the express universal car. Several typical motions of express universal car based on Mecanum are analyzed by using ADAMS simulation system,and the correctness and reliability of kinematics universal car model are verified.
引文
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[2]周美锋.基于Mecanum轮的全方位移动机器人研究[D].南京:南京航空航天大学,2014.
[3]朱浩,黄翔,李泷杲.一种改进的Mecanum轮辊子形状设计方法[J].机械设计与制造工程,2015(2):38-42.
[4]张学玲,侍才洪,康少华.Mecanum万向轮滚子外轮廓曲面变形补偿设计[J].中国工程机械学报,2014(3):213-217.
[5]张豫南,田鹏,王双双.采用SolidWorks API的全方位轮参数化实体建模[J].现代制造工程,2013(2):59-62.
[6]杨铭,吕永健,丛新勇.Mecanum轮几何结构与辊子母线近似方法[J].机械设计与研究,2014(5):76-79.
[7]Ilon.Wheels for a course stable self propelling vehicle movable in any desired direction on the ground or some other base[P]:U.S:3876255.1975.
[8]贾官帅.基于Mecanum轮全方位移动平台的理论和应用研究[D].杭州:浙江大学,2012.