基于Mecanum轮全方位移动平台的理论和应用研究

发布时间：2018-06-17 06:42

本文选题：Mecanum轮 + 轮辊母线方程　；参考：《浙江大学》2012年硕士论文

【摘要】：Mecanum轮(又称Swedish轮)是瑞士Mecanum AB公司工程师Bengt Iron提出的特殊轮系,其特点为沿轮毂圆周排布着与轮子成一定角度且可绕自身轴线进行旋转的辊子。由三个或以上Mecanum轮按照一定方式排列组成的移动平台具有平面内三个自由度,可同时独立的前后、左右和原地旋转运动,可在不改变自身位姿的情况下向任意方向移动。借助于横向移动和原地回旋的特性,全方位运动平台可方便的穿梭于狭窄拥挤空间中,灵活完成各种任务,相比传统移动平台有明显优势。本文就Mecanum四轮全方位移动平台开展的主要研究工作如下： (1)阐述了全方位移动平台的研究背景与意义,对比了不同全方位移动系统的特点,说明了Mecanum四轮全方位移动平台的国内外研究与应用现状。 (2)根据Mecanum轮几何特征,讨论了Mecanum轮辊子母线方程和常用辊子母线工程简化形式带来的误差；参考现有文献建立Mecanum四轮全方位移动平台运动学与动力学方程,并基于此方程说明了全方位移动平台的运动特性。 (3)利用Mecanum四轮全方位移动平台的运动学、动力学方程,结合无刷直流电机数学模型,推导得出平台机电耦合的模型,利用S函数在Matlab中实现该模型并进行仿真；利用ADAMS软件建立移动平台简化虚拟样机,并用来仿真Mecanum四轮全方位移动平台运动特性。 (4)设计了全方位移动系统的移动控制系统和功率驱动系统,在此基础上制作完成Mecanum四轮全方位移动平台样机,最后利用平台样机进行验证实验。
[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.
【学位授予单位】：浙江大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TH113

【参考文献】