低温LNG装卸撬全向移动平台运动学分析与仿真  

Kinematics Analysis and Simulation of Omnidirectional Mobile Platform of Cryogenic LNG Loading and Unloading Skid

作　　者：茆中国 刘明芹 宋吕明 朱雅 王家超 MAO Zhong-guo;LIU Ming-qin;SONG Lyu-ming;ZHU Ya;WANG Jia-chao(College of Mechanical Engineering,Jiangsu Ocean University,Lianyungang 222000,Jiangsu,China)

机构地区：[1]江苏海洋大学机械工程学院,江苏连云港222000

出　　处：《机械研究与应用》2023年第5期15-19,共5页Mechanical Research & Application

摘　　要：该文对Mecanum轮全向移动平台的运动特性进行分析,首先介绍了麦克纳姆轮的详细布局,然后分析了全向移动平台全向移动机构的运动原理,并建立相应运动学方程,最后利用SolidWorks完成全向移动平台的三维建模,并使用ADAMS软件对正常行驶时的前后、左右、原地旋转以及爬坡工况进行运动仿真分析,仿真分析结果验证了低温LNG全向移动平台设计的合理性。This paper analyzes the motion characteristics of the omni-directional mobile platform of Mecanum wheel,introduces the detailed layout of the Mecanum wheel,analyzes the motion principle of the omnidirectional mobile mechanism of the omnidirectional mobile platform,establishes the corresponding kinematics equations,completes the three-dimensional modeling of the omnidirectional mobile platform by using SolidWorks,and uses ADAMS software to conduct the motion simulation analysis of the forward and backward,left and right,in-place rotation and climbing conditions during normal driving,which verify the rationality of the design of cryogenic LNG omnidirectional mobile platform.

关 键 词：MECANUM轮 ADAMS 运动仿真 

分 类 号：TH131[机械工程—机械制造及自动化]