【摘要】：移載機(jī)械作為基礎(chǔ)裝備,被廣泛應(yīng)用于生產(chǎn)、生活的各個(gè)領(lǐng)域。由于現(xiàn)代物流對(duì)于活動(dòng)空間及生產(chǎn)中對(duì)于運(yùn)動(dòng)精度和靈活性方面的要求越來(lái)越高,要求新型的移載機(jī)械能滿足小空間運(yùn)動(dòng)和靈活的運(yùn)動(dòng)姿態(tài)控制方面的要求。研發(fā)能夠滿足新需求的全方位移載平臺(tái)的現(xiàn)實(shí)意義非常重大。本文在借鑒國(guó)內(nèi)外現(xiàn)有研究成果的基礎(chǔ)上進(jìn)行了創(chuàng)新。分析和設(shè)計(jì)了一種新型的全方位移載平臺(tái)。本文的主要工作如下: 1.通過(guò)分析國(guó)內(nèi)外在全方位運(yùn)動(dòng)平臺(tái)方面的一些研究成果,設(shè)計(jì)了新型移載平臺(tái)的基礎(chǔ)部件,即新型二維柔性運(yùn)動(dòng)輪; 2.根據(jù)全方位移載平臺(tái)的運(yùn)動(dòng)特性,建立了新型二維柔性運(yùn)動(dòng)輪的排布方式并以此為基礎(chǔ)建立了運(yùn)動(dòng)學(xué)模型,分析了全向移載平臺(tái)靈活運(yùn)動(dòng)的可行性; 3.根據(jù)實(shí)際運(yùn)動(dòng)要求以新型全方位移載平臺(tái)使用的新型二維柔性運(yùn)動(dòng)輪作為全向移載平臺(tái)動(dòng)力傳輸?shù)淖罱K環(huán)節(jié),建立了全向運(yùn)動(dòng)平臺(tái)的傳動(dòng)系統(tǒng); 4.對(duì)新型全向移載平臺(tái)傳動(dòng)系統(tǒng)的結(jié)構(gòu)進(jìn)行分析、選擇相應(yīng)的動(dòng)力源、動(dòng)力輸出元器件及相關(guān)的輔助元器件,并以此為基準(zhǔn)建立了運(yùn)動(dòng)控制策略; 5.通過(guò)對(duì)新型全向移載平臺(tái)的運(yùn)動(dòng)學(xué)模型和傳動(dòng)系統(tǒng)的分析,得出該平臺(tái)初始動(dòng)力輸出元器件的控制目標(biāo),選擇并設(shè)計(jì)人機(jī)交互的方式,選擇、設(shè)計(jì)具體的控制元器件并構(gòu)建了主要控制電路的結(jié)構(gòu)。
[Abstract]:As the basic equipment, the load-shifting machine is widely used in all fields of production and life. Because modern logistics is demanding more and more precision and flexibility in moving space and production, it is required that the new type of moving machine can meet the requirements of small space motion and flexible motion attitude control. Research and development can meet the new needs of the full-directional load-shifting platform is of great practical significance. Based on the existing research results at home and abroad, this paper innovates. This paper analyzes and designs a new kind of omnidirectional load transfer platform. The main work of this paper is as follows: 1. Based on the analysis of some research results of omnidirectional motion platform at home and abroad, the basic components of the new load-shifting platform are designed, that is, the new two-dimensional flexible motion wheel. 2. According to the motion characteristics of the omnidirectional load transfer platform, the layout of the new two-dimensional flexible motion wheel is established and the kinematics model is established based on it. The feasibility of the flexible motion of the omnidirectional moving platform is analyzed. 3. According to the actual motion requirements, a new type of two-dimensional flexible motion wheel is used as the final link of the power transmission of the omnidirectional moving platform, and the transmission system of the omnidirectional moving platform is established. 4. The structure of the new drive system is analyzed, and the corresponding power sources, power output components and related auxiliary components are selected, and the motion control strategy is established based on this. 5. Through the analysis of the kinematics model and transmission system of the new omnidirectional load transfer platform, the control target of the initial power output components of the platform is obtained, and the mode of man-machine interaction is selected and designed. The specific control components are designed and the structure of the main control circuit is constructed.
【學(xué)位授予單位】：南京航空航天大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2011
【分類號(hào)】：TH238

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