基于Mecanum轮的移动机器人运动建模与仿真  

Movement Modeling and Simulation of Mobile Robot Based on Mecanum Wheel

作　　者：夏长安 肖雨琴 岳义 赵现朝[1] 韦宝琛 XIA Chang’an;XIAO Yuqin;YUE Yi;ZHAO Xianchao;WEI Baochen(State Key Laboratory of Mechanical System and Vibration,Shanghai Jiao Tong University,Shanghai 200240,China;Shanghai Aerospace Equipment Manufacturing Plant Corporation,Shanghai 201620,China)

机构地区：[1]上海交通大学机械系统与振动国家重点实验室,上海200240 [2]上海工程技术大学,上海201620

出　　处：《机械设计与研究》2022年第4期17-21,共5页Machine Design And Research

基　　金：国家自然科学基金(51905337);上海市自然科学基金(18ZR1417600)资助项目。

摘　　要：移动机器人是大型构件加工与装配作业的有效解决方案。实际的工作过程中,移动机器人的末端操作精度问题亟需研究和解决。机器人末端精度同时取决于Mecanum轮移动机器人本体运行精度和辅助操作平台精度。通过设计悬挂结构使Mecanum移动机器人与地面充分接触,减少打滑现象以提高精度。通过对路面状况的分类,分析Mecanum轮与不同路面接触情况,建立新的基于Mecanum轮移动机器人的完备六维运动学模型,并通过仿真验证了模型的有效性,为提高移动精度提供理论基础。Mobile robots are an effective solution for large-scale component manufacturing and assembly operations.The problem of endpoint operation accuracy of mobile robots urgently needs to be studied and solved.The accuracy of the robot endpoint depends on the accuracy of the Mecanum wheel mobile robot body and the accuracy of the auxiliary operating platform.By designing the suspension structure,the Mecanum mobile robot is in full contact with the ground,reducing slippage and improving accuracy.Through the classification of road conditions and analysis of the contact between Mecanum wheels and different roads,a complete six-dimensional kinematics model of the Mecanum wheel mobile robot is established,and the model is validated through simulation,which provides a theoretical basis for improving the accuracy of movement.

关 键 词：末端精度 MECANUM轮 六维运动学模型 悬挂机构 三自由度移动平台 

分 类 号：TH122[机械工程—机械设计及理论]