球形转向轮仿真设计  

Design of Spherical Steering Wheels Based on Simulation

作　　者：王佳伟 余旌榕 梁智翔 史颖刚[1] 刘利[1] Wang Jiawei;Yu Jingrong;Liang Zhixiang;Shi Yinggang;Wen Li(College of Mechanical and Electronic Engineering of Northwest A&F University,Yangling 712100)

机构地区：[1]西北农林科技大学机械与电子工程学院,杨凌712100

出　　处：《中国农机装备》2024年第3期2-5,共4页China Agricultural Machinery Equipment

基　　金：教育部产学合作协同育人项目(220902518305332,220903940243537),2023陕西教师发展研究计划项目(2023JSY014),西北农林科技大学教育教学改革研究项目(JY2303097),西北农林科技大学大学生创新创业训练计划项目(202310712086)。

摘　　要：设计一种应用于农田作业环境尤其是蔬菜大棚环境的球形转向轮,为农业机器人在农田环境下不能顺利球形移动的问题提供一种解决办法。球形转向轮采用双轮驱动方式,同轴直流减速电机驱动,产生转矩从而前后左右移动,并以陀螺仪检测补偿,实现轮系闭环控制,再通过上位机整体驱动轮系运转,并设置补偿环节,使得下位机整体闭环,实现该轮系整体驱动与控制,使得农业机器人在野外球形移动,尽可能少地受到环境的约束。A spherical steering wheel suitable for agricultural field operations especially in environments such as vegetable greenhouses was designed with the aim to provide a solution for maneuvering smoothly in field conditions by agricultural robots.The spherical steering wheel employed a dual-wheel driving mechanism powered by co-axial DC geared motors to generate torque for omnidirectional movement.Gyroscopic sensors were utilized for detection and compensation enabling closed-loop con-trol of the wheel system.The overall operation of the wheel system was controlled by a host computer,which incorporates a compensation component to achieve closed-loop control at the lower level to realize the driving and controlling of the wheel system and to enable the agricultural robots to move spherically in field con-dition with minimizing environmental constraints.

关 键 词：双轮驱动 闭环控制 球形移动 

分 类 号：S220.2[农业科学—农业机械化工程]