一种Mecanum三轮全向移动平台的设计与运动分析  

Design and Motion Analysis of a Mecanum Three-Round Omni-Directional Mobile Platform

作　　者：高朋飞 彭江涛 于薇薇[1] 李树军[1] 秦现生[1] 

机构地区：[1]西北工业大学机电学院,陕西西安710072 [2]中航工业成都飞机工业集团有限责任公司,四川成都610000

出　　处：《西北工业大学学报》2017年第5期857-862,共6页Journal of Northwestern Polytechnical University

基　　金：111引智项目(B13044);陕西省自然科学基金(2016JQ6009);陕西省科技统筹创新工程项目(2016KTZDGY06-01)资助

摘　　要：为提高常规Mecanum轮全向移动平台的装配简易性以及灵活性,设计一种对称向心布局结构的Mecanum三轮全向移动平台。通过分析Mecanum轮的结构特性和建立Mecanum三轮全向移动平台的运动学模型,给出Mecanum三轮全向移动平台在二维平面上实现全向移动的方法。并对三轮对称向心布局的Mecanum轮全向移动平台和常规四轮对称布局的Mecanum轮全向移动平台进行了运动仿真对比,分析表明Mecanum三轮对称向心布局的全向移动平台具有装配简易、驱动性能更好、灵活性更强、集群效果更好的性能,具有工业物流应用的潜力。In order,how to improve the assembly simplicity and flexibility of the conventional Mecanum wheel di- rectional mobile platform, it is a kind of Mecanum three wheeled omni-directional mobile platform, which is designed with symmetrical and concentric layout structure. Based on the analysis of the structural characteristics of the Mecanum wheel and the kinematic model of the Mecanum with three wheeled omni-directional mobile platform. The method has presented realization the omnidirectional motion of the Mecanum and three wheeled omni-directional mobile platform in the two-dimensional plane. The Mecanum and directional mobile platform Mecanum omnidirec- tional mobile platform on three symmetric layout and the conventional four wheel, radial symmetrical layout of motion simulation, analysis of the omnidirectional mobile platform Mecanum three symmetrical layout has been sim- ple assembly, centripetal driving causes have better performance flexibility, better scalability, and puts forward the application potential of industrial logistics.

关 键 词：MECANUM轮 三轮对称向心布局结构 运动仿真 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]