辊子形状对Mecanum轮振动特性影响研究  

Research of the Influence of Roller Shape on the Vibration Characteristic of Mecanum Wheel

作　　者：金磊[1,2] 秦训鹏[1,2] 华林[1,2] 刘华明[1,2] 张将[1,2] 

机构地区：[1]武汉理工大学汽车工程学院,湖北武汉430070 [2]现代汽车零部件技术湖北省重点实验室,湖北武汉430070

出　　处：《机械传动》2017年第6期67-74,共8页Journal of Mechanical Transmission

基　　金：教育部创新团队发展计划资助项目(IRT13087);武汉理工大学优秀硕士培育项目(2016-YS-053)

摘　　要：为了探究辊子形状对Mecanum轮动力学性能的影响,提出了Mecanum轮辊子轮廓线的设计方法,建立了Mecanum轮参数化模型,采用ADAMS对Mecanum轮的运动过程进行仿真分析,得到了采用所设计的辊子形状时Mecanum轮的运动特点,并对比分析了不同辊子形状对Mecanum轮动力学性能的影响,为后续整车运动控制和轨迹规划提供原始数据,对提高整车的运动平稳性具有一定的指导意义。In order to study the influence of the roller shape on the dynamics performance of the Mecanum wheel, the design method of the Mecanum wheel roller contour is firstly proposed, and then the parametric model of the Mecanum wheel is established. The motion processing of the Mecnaum wheel is simulated based on ADAMS. The movement characteristics of the Mecanum wheel with the designed roller are obtained, and the influence of different roller shapes on the dynamics performance of Mecanum wheel is compared and analyzed in detail. The results provide the subsequent vehicle motion control and trajectory planning with original data, and have certain guiding significance for improving the motion stability of the omni - directional mobile vehicle.

关 键 词：Mecanum 轮 辊子形状 振动特性 动力学仿真 

分 类 号：TH113[机械工程—机械设计及理论]