交错轴摩擦轮传动原理及其在移动小车运动分析中的应用  

Mechanism of Wheel-Ground Crossed Friction Wheel Drive and Application in Motion Analysis of Omni-directional Mobile Car

作　　者：姜松[1] 陈琦莹 冯侃[2] 陈章耀[2] 刘维 姜奕奕 JIANG Song;CHEN Qiying;FENG Kan;CHEN Zhangyao;LIU Wei;JIANG Yiyi(School of Food and Biological Engineering,Jiangsu University,Zhenjiang 212013,China;Faculty of Civil Engineering and Mechanics,Jiangsu University,Zhenjiang 212013,China)

机构地区：[1]江苏大学食品与生物工程学院,镇江212013 [2]江苏大学土木工程与力学学院,镇江212013

出　　处：《农业机械学报》2020年第4期394-402,共9页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家自然科学基金项目(51575243);江苏省优势学科建设工程项目。

摘　　要：分析了交错轴摩擦轮机构传动的基本原理,解析了交错轴摩擦轮机构特例--轮地交错轴摩擦轮传动动力学参数的理论关系和设计计算方法,建立了摩擦轮轴向移动方向的判定方法,并利用ADAMS对不同加载条件下轮地交错轴摩擦轮传动关系模型进行了仿真;在此基础上,应用轮地交错轴摩擦轮传动原理分析了基于Mecanum轮的全方位移动小车的运动关系。研究表明,轮地交错轴摩擦轮传动动力学参数的理论设计计算方法准确,传动有效时,摩擦轮与地接触点的静摩擦力与轮轴线的夹角取决于所加载的载荷,接触点静摩擦力与所加载荷能自适应平衡,摩擦轮轮心的移动速度和沿轮轴向移动速度及支撑轴驱动速度之间的关系不受外载的影响,摩擦轮轮心速度和其沿支撑轴的移动速度与其支撑轴的移动速度之间构成直角三角形关系,摩擦轮的两个速度分别是支撑轴移动速度的余弦和正弦;Mecanum轮的腰鼓形辊子与地面形成的传动关系属于交错轴摩擦轮传动,运用轮地交错轴摩擦轮传动的运动关系理论分析Mecanum轮全方位移动小车的运动可行。Aiming to clarify the transmission relationship of the crossed friction wheel mechanism and apply it to the motion analysis of the Mecanum wheeled omni-directional mobile car,the transmission principle was theoretically analyzed through motion analysis and force analysis. The theoretical relationship and the design calculation method of dynamic parameters of a special case of the crossed friction drive about wheel-ground crossed friction wheel drive were analyzed. The method for judging the axial movement direction of the driven transmission member was constructed. The ADAMS was used to simulate the transmission model of crossed friction wheel under different loading conditions. On this basis,the motion principle of the omni-directional mobile car based on the Mecanum wheel was analyzed by using the mechanism of the crossed friction wheel transmission. The research result showed that the theoretical analysis of the transmission relationship was correct. When the transmission was effective,the angle between the static friction force of the contact point and the axis of the wheel was depended on the applied load value. The static friction of the contact point and the applied load could be adaptively balanced. The relationship between the moving speed of the wheel center and the axial moving speed along the shaft and the driving speed of the supporting shaft was not affected by the external load. These three speeds formed a right-angled triangle relationship,and the two speeds of the friction wheel were the cosine and sine of the driving speed. The transmission relationship between the ground and the small rollers of the Mecanum wheel belonged to the crossed friction wheel drive. It was feasible to analyze the omni-directional mobile car by using theoretical movement relationship of the crossed friction wheel. It provided an intuitive and concise theoretical method for the analysis of the omni-directional mobile car based on Mecanum wheel,and also provided a theoretical basis for the application design and analysis

关 键 词：交错轴摩擦轮传动 全方位移动小车 轮地系统 MECANUM轮 轴向运动 

分 类 号：TH132[机械工程—机械制造及自动化] TP242[自动化与计算机技术—检测技术与自动化装置]