基于Mecanum轮的集装箱底板打孔平台研制

发布时间：2018-04-01 03:06

本文选题：集装箱底板　切入点：Mecanum轮　出处：《南京林业大学》2015年硕士论文

【摘要】：为提高集装箱底板及钢制龙骨打孔效率,降低人工劳动强度,论文针对集装箱底板人工打孔的现状,提出将全向移动机构应用于打孔系统中,以期对集装箱底板安装的智能高效化起促进作用。基于Mecanum轮的全向移动系统较传统移动机构具有明显优势,能克服传统移动机构无法实现横向移动和原地零半径旋转的缺陷,可方便穿梭于狭窄拥挤空间,提高行走效率,广泛应用于生活、物流、工业和机器人等多个领域。其通常由四个Mecanum轮合理布局构成,通过控制四个轮子的转速与转向并经由不同组合,就能实现全向移动。论文以Mecanum四轮全向移动平台为研究对象,开展了以下研究工作:(1)阐述研究的背景及意义,在对比分析多种轮式全向移动机构的基础上,详细介绍了基于Mecanum轮的全向移动平台的国内外研究现状及应用情况,确定论文研究的主要内容。(2)运用包络啮合理论推导辊子母线方程,结合Matlab软件给出辊子轮廓曲线并与精确母线对比;根据母线方程进行Mecanum轮参数设计并运用三维设计软件Solidworks构建出轮模型。(3)建立Mecanum四轮全向移动平台运动学模型并对其进行逆运动学分析,得到四轮转速与平台中心转速的映射关系;运用全向移动条件——速度逆雅克比矩阵满秩优选出轮组合理结构布局,并利用动力学仿真软件ADAMS对平台进行运动学仿真。(4)采用Solidworks软件对移动平台进行基本造型,通过虚拟装配建立Mecanum轮仿真模型,并运用有限元分析软件Workbench对轮体进行受载静力分析,得到关键零件的应力分布情况。(5)搭建Mecanum四轮全向移动平台模型,设计四轮运动控制的硬件电路并在运动学分析的基础上编写相应测试程序,直观地验证平台的全向移动性能。论文利用理论分析、软件仿真分析及试验测试的方法,对Mecanum四轮全向移动平台进行了较为深入的分析与研究,直观地验了平台的全向移动性能,为全向移动平台应用于集装箱底板打孔提供了理论基础。
[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.
【学位授予单位】：南京林业大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：U169.3

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