基于赫兹理论的全方位MY轮稳定驱动分析  

Propulsion stability analysis of MY wheel based on Hertz theory

作　　者：叶长龙 李延灼 陈南 于苏洋 YE Chang-long;LI Yan-zhuo;CHEN Nan;YU Su-yang(College of Mechatronics Engineering,Shenyang Aerospace University,Shenyang 110136,China)

机构地区：[1]沈阳航空航天大学机电工程学院,沈阳110136

出　　处：《沈阳航空航天大学学报》2021年第6期15-23,共9页Journal of Shenyang Aerospace University

基　　金：辽宁省自然科学基金(项目编号:20180520033)。

摘　　要：为深入研究实验室自主研发的MY全方位轮的运动稳定性及有效驱动,建立全方位轮与环境接触的力学模型,分析轮子在运动过程中的变形与驱动过程。应用赫兹接触理论建立轮-地面接触力学模型,推导出轮子负载与接触面变形量之间的映射关系,并利用有限元仿真软件进行仿真验证。在静力学分析的基础上,深入讨论MY轮与地面的滚动接触状态,研究有效驱动力矩与轮子承载、运动状态的关系。最后通过实验验证了以上理论分析的正确性,为提高机器人的运动稳定性和有效驱动提供设计依据。In order to deeply study the motion stability and effective driving of MY omni-directional wheel independently developed by the laboratory,a mechanical model of the contact between the omni-directional wheel and the environment was established,and the deformation and driving process of the wheel in the process of motion were analyzed.Based on the Hertz contact theory,the wheel-ground contact mechanical model is established,and the mapping relationship between wheel load and contact surface deformation is deduced,and the finite element simulation software was used for verification.Based on the static analysis,the rolling contact state between MY wheel and the ground is deeply discussed,and the relationship between the effective driving torque and the load and motion state of the wheel is studied.Finally,the correctness of the above theoretical analysis is verified by experiments,which provides a design basis for improving the motion stability and effective driving of the robot.

关 键 词：全方位轮 赫兹接触理论 接触力学模型 有限元仿真 滚动接触 有效驱动 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]