發(fā)布時(shí)間：2018-06-17 06:42

  本文選題：Mecanum輪 + 輪輥母線方程　； 參考：《浙江大學(xué)》2012年碩士論文

【摘要】：Mecanum輪(又稱Swedish輪)是瑞士Mecanum AB公司工程師Bengt Iron提出的特殊輪系,其特點(diǎn)為沿輪轂圓周排布著與輪子成一定角度且可繞自身軸線進(jìn)行旋轉(zhuǎn)的輥?zhàn)�。由三個(gè)或以上Mecanum輪按照一定方式排列組成的移動(dòng)平臺(tái)具有平面內(nèi)三個(gè)自由度,可同時(shí)獨(dú)立的前后、左右和原地旋轉(zhuǎn)運(yùn)動(dòng),可在不改變自身位姿的情況下向任意方向移動(dòng)。借助于橫向移動(dòng)和原地回旋的特性,全方位運(yùn)動(dòng)平臺(tái)可方便的穿梭于狹窄擁擠空間中,靈活完成各種任務(wù),相比傳統(tǒng)移動(dòng)平臺(tái)有明顯優(yōu)勢(shì)。本文就Mecanum四輪全方位移動(dòng)平臺(tái)開展的主要研究工作如下： (1)闡述了全方位移動(dòng)平臺(tái)的研究背景與意義,對(duì)比了不同全方位移動(dòng)系統(tǒng)的特點(diǎn),說明了Mecanum四輪全方位移動(dòng)平臺(tái)的國(guó)內(nèi)外研究與應(yīng)用現(xiàn)狀。 (2)根據(jù)Mecanum輪幾何特征,討論了Mecanum輪輥?zhàn)幽妇�方程和常用輥?zhàn)幽妇�工程簡(jiǎn)化形式帶來的誤差；參考現(xiàn)有文獻(xiàn)建立Mecanum四輪全方位移動(dòng)平臺(tái)運(yùn)動(dòng)學(xué)與動(dòng)力學(xué)方程,并基于此方程說明了全方位移動(dòng)平臺(tái)的運(yùn)動(dòng)特性。 (3)利用Mecanum四輪全方位移動(dòng)平臺(tái)的運(yùn)動(dòng)學(xué)、動(dòng)力學(xué)方程,結(jié)合無刷直流電機(jī)數(shù)學(xué)模型,推導(dǎo)得出平臺(tái)機(jī)電耦合的模型,利用S函數(shù)在Matlab中實(shí)現(xiàn)該模型并進(jìn)行仿真；利用ADAMS軟件建立移動(dòng)平臺(tái)簡(jiǎn)化虛擬樣機(jī),并用來仿真Mecanum四輪全方位移動(dòng)平臺(tái)運(yùn)動(dòng)特性。 (4)設(shè)計(jì)了全方位移動(dòng)系統(tǒng)的移動(dòng)控制系統(tǒng)和功率驅(qū)動(dòng)系統(tǒng),在此基礎(chǔ)上制作完成Mecanum四輪全方位移動(dòng)平臺(tái)樣機(jī),最后利用平臺(tái)樣機(jī)進(jìn)行驗(yàn)證實(shí)驗(yàn)。
[Abstract]:Mecanum wheel (also known as Swedish wheel) is a special gear train proposed by Bengt Iron, engineer of Mecanum AB Company in Switzerland. It is characterized by a roller arranged at a certain angle to the wheel and rotated around its axis along the hub. The mobile platform, which consists of three or more Mecanum wheels arranged in a certain way, has three degrees of freedom in the plane, and can rotate independently before, around and in place at the same time, and can move in any direction without changing its position and posture. With the help of the characteristics of lateral movement and in-situ rotation, the omni-directional motion platform can easily shuttle through the narrow crowded space and accomplish various tasks flexibly, which has obvious advantages compared with the traditional mobile platform. In this paper, the main research work of Mecanum four-wheeled omnidirectional mobile platform is as follows: 1) the research background and significance of the omnidirectional mobile platform are expounded, and the characteristics of different omnidirectional mobile systems are compared. The present situation of research and application of Mecanum four-wheel omnidirectional mobile platform at home and abroad is explained. (2) according to the geometric characteristics of Mecanum wheel, the errors caused by Mecanum roller busbar equation and the simplified form of common roller busbar engineering are discussed. The kinematics and dynamics equations of Mecanum four-wheel omni-directional mobile platform are established with reference to existing literature, and the kinematic characteristics of omni-directional mobile platform are explained based on this equation. Dynamic equation, combined with the mathematical model of brushless DC motor, the model of electromechanical coupling of the platform is derived, and the model is realized in Matlab by using S function, and the simplified virtual prototype of mobile platform is built by Adams software. It is used to simulate the motion characteristics of Mecanum four-wheel omni-directional mobile platform. The mobile control system and power drive system of omni-directional mobile system are designed, and the prototype of Mecanum four-wheel omni-directional mobile platform is made on this basis. Finally, the platform prototype is used to verify the experiment.
【學(xué)位授予單位】：浙江大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2012
【分類號(hào)】：TH113

【參考文獻(xiàn)】

相關(guān)期刊論文 前10條

1 賈茜;王興松;周婧;;基于多種控制方式的全方位移動(dòng)機(jī)器人研制[J];電子機(jī)械工程;2010年04期

2 朱磊磊;陳軍;;輪式移動(dòng)機(jī)器人研究綜述[J];機(jī)床與液壓;2009年08期

3 陳淑艷;陳文家;;履帶式移動(dòng)機(jī)器人研究綜述[J];機(jī)電工程;2007年12期

4 何清華,黃素平,黃志雄;智能輪椅的研究現(xiàn)狀和發(fā)展趨勢(shì)[J];機(jī)器人技術(shù)與應(yīng)用;2003年02期

5 陳麗,王越超,李斌;蛇形機(jī)器人研究現(xiàn)況與進(jìn)展[J];機(jī)器人;2002年06期

6 趙冬斌,易建強(qiáng),鄧旭s，

本文編號(hào)：2030112