一种基于麦克纳姆轮的独立悬挂系统设计  

Design of Independent Suspension System Based on Mecanum Wheel

作　　者：张淇杰 吴宏裕 袁嘉霁 李宏宇 ZHANG Qi-jie;WU Hong-yu;YUAN Jia-ji;LI Hong-yu(Huali College Guangdong University of Technology,Guangzhou 511325,China)

机构地区：[1]广东工业大学华立学院

出　　处：《机械工程与自动化》2019年第6期124-125,128,共3页Mechanical Engineering & Automation

基　　金：2018年广东大学生科技创新培育专项基金项目(pdjhb0632);2018年大学生创新创业训练计划项目(201813656021)

摘　　要：为基于麦克纳姆轮的机器人底盘设计了一款独立悬挂系统。该独立悬挂系统设计结合了汽车独立悬架设计思想与麦克纳姆轮底盘运动学特性,可减轻不平整地面对底盘产生的振动,增强轮子着地性,减小轴距与轮距变化,提高机器人运动的总体性能。对当前常见汽车悬架进行简单介绍,对该独立悬挂系统的结构进行阐述。通过对该机构进行分析,验证了悬挂机构的减振效果,并经过样机试验验证了该机构的承载与越障能力及运动的稳定性。An independent suspension system was designed for the chassis of the robot based on the Mecanum wheel.This independent suspension system design combines the design of a car's independent suspension with the kinematics of the Mecanum wheel chassis.The design can reduce the vibration generated by the chassis caused by uneven ground,enhance the grounding of the wheel,reduce the wheelbase and track variation,and improve the overall performance of the robot movement.A brief introduction to the current common vehicle suspension is presented,and the structure of the independent suspension system is explained.Through the analysis of the mechanism,the damping effect of the suspension mechanism was verified,and the bearing capacity、ability to cross obstacles and stability of movement of the mechanism were verified by prototype test.

关 键 词：机器人底盘 独立悬挂系统 汽车悬架 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] U463.33[自动化与计算机技术—控制科学与工程]