一种基于二维柔性运动轮的全方位移载平台的研发
发布时间：2018-09-18 13:59
【摘要】：移载机械作为基础装备,被广泛应用于生产、生活的各个领域。由于现代物流对于活动空间及生产中对于运动精度和灵活性方面的要求越来越高,要求新型的移载机械能满足小空间运动和灵活的运动姿态控制方面的要求。研发能够满足新需求的全方位移载平台的现实意义非常重大。本文在借鉴国内外现有研究成果的基础上进行了创新。分析和设计了一种新型的全方位移载平台。本文的主要工作如下: 1.通过分析国内外在全方位运动平台方面的一些研究成果,设计了新型移载平台的基础部件,即新型二维柔性运动轮; 2.根据全方位移载平台的运动特性,建立了新型二维柔性运动轮的排布方式并以此为基础建立了运动学模型,分析了全向移载平台灵活运动的可行性; 3.根据实际运动要求以新型全方位移载平台使用的新型二维柔性运动轮作为全向移载平台动力传输的最终环节,建立了全向运动平台的传动系统; 4.对新型全向移载平台传动系统的结构进行分析、选择相应的动力源、动力输出元器件及相关的辅助元器件,并以此为基准建立了运动控制策略; 5.通过对新型全向移载平台的运动学模型和传动系统的分析,得出该平台初始动力输出元器件的控制目标,选择并设计人机交互的方式,选择、设计具体的控制元器件并构建了主要控制电路的结构。
[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.
【学位授予单位】：南京航空航天大学
【学位级别】：硕士
【学位授予年份】：2011
【分类号】：TH238
本文编号：2248137
[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.
【学位授予单位】：南京航空航天大学
【学位级别】：硕士
【学位授予年份】：2011
【分类号】：TH238
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