基于球面四杆机构调控滚子偏置角的锥式Mecanum轮
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摘要
Mecanum轮作为一种全方位行走轮在多领域广泛应用,针对Mecanum运动系统受限于平整光滑路面,提出一种拓展到类"V"形路面行走的新型变锥角Mecanum轮,该轮每个滚子分别对应安装于阵列球面四杆机构上,其周向阵列球面四杆机构具有公共输入轴,以同步驱动安装于连杆上对应的Mecanum轮滚子,实现滚子轴线偏置角变化,达到Mecanum轮锥角变化,增加Mecanum轮运动系统对"V"形地面行走适应性;通过建立球面四杆机构运动学模型,求解出球面四杆机构的输入输出方程,得到公共轴输入转动角度与滚子偏置角间映射关系;基于包络原理近似求得Mecanum轮可控锥角所对应的路面坡度。
As a kind of omnidirectional walking wheel, Mecanum wheel is widely used in many fields, to solve the limitation of Mecanum motion system on smooth road surface,a new variable cone angle Mecanum wheel which can be extended to the V type road surface is proposed. Each roller of the wheel is installed on the four-bar mechanism with spherical arrays and four-bar mechanism with circumferential arrays. The mechanism has a common input shaft to synchronously drive the corresponding Mecanum roller mounted on the connecting rod to realize the change of the roller axis offset angle, to achieve the change of the Mecanum wheel cone angle,to increase the adaptability of the Mecanum wheel motion system to the V type ground walking. By establishing the spherical four-bar mechanism kinematics model, the input and output equations of the spherical four-bar mechanism are solved. The common axis input rotation angle and the mapping relationship between the offset angles of the rollers are obtained. Finally, the slope of the road corresponding to the controllable cone angle of the Mecanum wheel, according to envelope principle, is approximated.
As a kind of omnidirectional walking wheel, Mecanum wheel is widely used in many fields, to solve the limitation of Mecanum motion system on smooth road surface,a new variable cone angle Mecanum wheel which can be extended to the V type road surface is proposed. Each roller of the wheel is installed on the four-bar mechanism with spherical arrays and four-bar mechanism with circumferential arrays. The mechanism has a common input shaft to synchronously drive the corresponding Mecanum roller mounted on the connecting rod to realize the change of the roller axis offset angle, to achieve the change of the Mecanum wheel cone angle,to increase the adaptability of the Mecanum wheel motion system to the V type ground walking. By establishing the spherical four-bar mechanism kinematics model, the input and output equations of the spherical four-bar mechanism are solved. The common axis input rotation angle and the mapping relationship between the offset angles of the rollers are obtained. Finally, the slope of the road corresponding to the controllable cone angle of the Mecanum wheel, according to envelope principle, is approximated.
引文
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[2]张翮,熊蓉.一种全方位移动机器人的运动分析与控制实现[J].浙江大学学报(工学版),2004,38(12):1650-1653.
[3]王仲民,储健.一种智能医疗机器人行走机构的研究[J].机械设计与制造,2004,12(5):88-89.
[4]GUY C,GEORGES B.Structural properties and classification of kinematics and dynamic models of wheeled mobile robots[J].IEEETransactions on Robotics and Automation,1996,12(1):47-62.
[5]WEIGEL T,GUTMANN J.Coordinating robots forsuc-cessful soccer playing[J].IEEE Transactions on Robotics and Automation,2000,18(5):685-699.
[6]JEFRI E M S,MOHAMED R.Designing omni-directional mobile robot with Mecanum wheel[J].American Journal of Applied Sciences,2006,3(5):1831-1835.
[7]PETER Xu.Mechatronics design of a Mecanum wheeled mobile robot[J].Cutting Edge Robotics,2005,7:61-74.
[8]王一治,钱晋武,常德功.不平地面Mecanum轮全方位系统运动学通用模型[J].机械工程学报,2009,45(9):77-81.
[9]谢广庆,张伟军,袁建军,等.基于Mecanum轮的全方位运动机构研究[J].机电一体化,2015,21(5):16-18.
[10]仇宇文,温浩凯,利圣佳,等.基于Mecanum轮的全方位运动平台的构建与分析[J].机械工程与自动化,2017(5)25-27.
[11]ANGELES J,MA O.Performance evaluation of four-bar linkages for rigid-body guidance based on generalized coupler curves[J].Journal of Mechanical Design,1991,113(1):17-24.
[12]CERVANTES-SáNCHEZ J J,MEDELLIN-CASTILLO H J,RI-CO-MARTINEZ J M,et al.Some improvements on the exact kinematic synthesis of spherical 4R function generators[J].Mechanism and Machine Theory,2009,44(1):103-121.
[13]BAI S,ANGELES J.A unified input-output analysis of four-bar linkages[J].Mechanism and Machine Theory,2008,43(2):240-251.