本文選題：集裝箱底板　切入點(diǎn)：Mecanum輪　出處：《南京林業(yè)大學(xué)》2015年碩士論文

【摘要】：為提高集裝箱底板及鋼制龍骨打孔效率,降低人工勞動強(qiáng)度,論文針對集裝箱底板人工打孔的現(xiàn)狀,提出將全向移動機(jī)構(gòu)應(yīng)用于打孔系統(tǒng)中,以期對集裝箱底板安裝的智能高效化起促進(jìn)作用�；贛ecanum輪的全向移動系統(tǒng)較傳統(tǒng)移動機(jī)構(gòu)具有明顯優(yōu)勢,能克服傳統(tǒng)移動機(jī)構(gòu)無法實(shí)現(xiàn)橫向移動和原地零半徑旋轉(zhuǎn)的缺陷,可方便穿梭于狹窄擁擠空間,提高行走效率,廣泛應(yīng)用于生活、物流、工業(yè)和機(jī)器人等多個領(lǐng)域。其通常由四個Mecanum輪合理布局構(gòu)成,通過控制四個輪子的轉(zhuǎn)速與轉(zhuǎn)向并經(jīng)由不同組合,就能實(shí)現(xiàn)全向移動。論文以Mecanum四輪全向移動平臺為研究對象,開展了以下研究工作:(1)闡述研究的背景及意義,在對比分析多種輪式全向移動機(jī)構(gòu)的基礎(chǔ)上,詳細(xì)介紹了基于Mecanum輪的全向移動平臺的國內(nèi)外研究現(xiàn)狀及應(yīng)用情況,確定論文研究的主要內(nèi)容。(2)運(yùn)用包絡(luò)嚙合理論推導(dǎo)輥?zhàn)幽妇�方程,結(jié)合Matlab軟件給出輥?zhàn)虞喞�并與精確母線對比;根據(jù)母線方程進(jìn)行Mecanum輪參數(shù)設(shè)計(jì)并運(yùn)用三維設(shè)計(jì)軟件Solidworks構(gòu)建出輪模型。(3)建立Mecanum四輪全向移動平臺運(yùn)動學(xué)模型并對其進(jìn)行逆運(yùn)動學(xué)分析,得到四輪轉(zhuǎn)速與平臺中心轉(zhuǎn)速的映射關(guān)系;運(yùn)用全向移動條件——速度逆雅克比矩陣滿秩優(yōu)選出輪組合理結(jié)構(gòu)布局,并利用動力學(xué)仿真軟件ADAMS對平臺進(jìn)行運(yùn)動學(xué)仿真。(4)采用Solidworks軟件對移動平臺進(jìn)行基本造型,通過虛擬裝配建立Mecanum輪仿真模型,并運(yùn)用有限元分析軟件Workbench對輪體進(jìn)行受載靜力分析,得到關(guān)鍵零件的應(yīng)力分布情況。(5)搭建Mecanum四輪全向移動平臺模型,設(shè)計(jì)四輪運(yùn)動控制的硬件電路并在運(yùn)動學(xué)分析的基礎(chǔ)上編寫相應(yīng)測試程序,直觀地驗(yàn)證平臺的全向移動性能。論文利用理論分析、軟件仿真分析及試驗(yàn)測試的方法,對Mecanum四輪全向移動平臺進(jìn)行了較為深入的分析與研究,直觀地驗(yàn)了平臺的全向移動性能,為全向移動平臺應(yīng)用于集裝箱底板打孔提供了理論基礎(chǔ)。
[Abstract]:In order to improve the efficiency of container bottom plate and steel keel drilling and reduce the labor intensity, the paper puts forward that the omnidirectional moving mechanism should be applied to the drilling system in view of the present situation of the container bottom plate manual drilling.It is expected to promote the intelligent and high efficiency of container bottom plate installation.The omnidirectional movement system based on Mecanum wheel has obvious advantages over the traditional mobile mechanism. It can overcome the defects that the traditional mobile mechanism can not realize lateral movement and zero radius rotation in situ, and can shuttle conveniently in narrow crowded space and improve the walking efficiency.Widely used in life, logistics, industry and robotics and other fields.It is usually composed of four Mecanum wheels. By controlling the rotation speed and steering of the four wheels and through different combinations, the omnidirectional movement can be realized.This paper takes the Mecanum four-wheel omnidirectional mobile platform as the research object, carries out the following research work: 1) expound the background and significance of the research, and on the basis of comparative analysis of various wheeled omnidirectional mobile mechanisms,The research status and application of omnidirectional mobile platform based on Mecanum wheel are introduced in detail, and the main content of this paper is determined. The envelope meshing theory is used to deduce the roll busbar equation.The contour curve of roller is given with Matlab software and compared with accurate bus.According to the generatrix equation, the parameter design of Mecanum wheel is carried out, and the wheel model is constructed by using 3D design software Solidworks.) the kinematics model of Mecanum four-wheel omnidirectional moving platform is established and the inverse kinematics analysis is carried out.The mapping relation between the four wheel speed and the platform center speed is obtained, and the reasonable structure layout of the wheel group is selected by using the omnidirectional moving condition-velocity inverse Jacobian matrix with full rank.The dynamic simulation software ADAMS is used to simulate the kinematics of the platform. The basic modeling of the mobile platform is carried out by using Solidworks software. The simulation model of Mecanum wheel is established by virtual assembly, and the static load analysis of the wheel body is carried out by using the finite element analysis software Workbench.The model of Mecanum four-wheel omni-directional moving platform is built, the hardware circuit of four-wheel motion control is designed and the corresponding test program is compiled on the basis of kinematics analysis, and the omnidirectional movement performance of the platform is verified intuitively.Using the methods of theoretical analysis, software simulation and test, the paper makes a deep analysis and research on the Mecanum four-wheel omnidirectional mobile platform, and intuitively verifies the omnidirectional mobility performance of the platform.It provides a theoretical basis for the application of omnidirectional mobile platform in container bottom perforation.
【學(xué)位授予單位】：南京林業(yè)大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2015
【分類號】：U169.3

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本文編號：1693664