基于Mecanum轮的AGV全方位移动平台运动仿真研究  

Research on the Motion Simulation of AGV Omnidirectional Mobile Platform Based on Mecanum Wheels

作　　者：宁胜花 何基业 唐香蕉 NING Shenghua;HE Jiye;TANG Xiangjiao(College of Automotive Engineering,Liuzhou Polytechnic University,Liuzhou 545616,China;SAIC GM Wuling Automobile Company Limited,Liuzhou 545007,China)

机构地区：[1]柳州职业技术大学汽车工程学院,广西柳州545616 [2]上汽通用五菱汽车股份有限公司,广西柳州545007

出　　处：《汽车实用技术》2025年第7期59-64,共6页Automobile Applied Technology

基　　金：2022年度广西高校中青年教师科研基础能力提升项目:智能网联汽车平台化电子电气架构研究(2022KY1051)。

摘　　要：随着自动化技术的快速发展,对自动导引车(AGV)全方位移动平台的设计与性能优化提出了更高要求,文章旨在通过SolidWorks和RecurDyn软件分析Mecanum轮式AGV的运动学特性及全方位运动能力。首先,利用SolidWorks软件建立了AGV全方位移动平台的三维模型,基于该模型开展了正运动学分析;然后,深入分析AGV全方位移动平台实现全方位运动的必要条件,明确其运动学特性和设计要求;最后,借助RecurDyn软件建立AGV全方位移动平台的虚拟样机,对其横向运动、纵向运动、斜向运动及旋转运动进行全面的仿真分析。仿真结果表明,Mecanum轮式AGV全方位移动平台能够成功实现全方位运动,不仅验证了SolidWorks模型的准确性和可靠性,而且为Mecanum轮式AGV全方位移动平台的运动控制研究提供了重要的理论支持和数据参考,为其进一步的优化设计和实际应用奠定了坚实的基础。With the rapid development of automation technology,higher requirements have been proposed for the design and performance optimization of automated guided vehicle(AGV)omnidirectional mobile platforms.This paper aims to analyze the kinematic characteristics and omnidirectional motion capabilities of Mecanum wheel-based AGV using SolidWorks and RecurDyn software.Firstly,a three-dimensional model of the AGV omnidirectional mobile platform is established using SolidWorks software,based on which forward kinematics analysis is conducted.Subsequently,an in-depth analysis is performed on the essential conditions for achieving omnidirectional motion in AGV mobile platforms,clarifying their kinematic characteristics and design requirements.Finally,a virtual prototype of the AGV omnidirectional mobile platform is developed using RecurDyn software,enabling comprehensive simulation analyses of its lateral,longitudinal,diagonal,and rotational movements.The simulation results demonstrate that the Mecanum wheel-based AGV omnidirectional mobile platform can successfully achieve full-directional movement.This not only verifies the accuracy and reliability of the SolidWorks model,but also provides crucial theoretical support and data references for motion control research of Mecanum wheel-based AGV platforms.These findings establish a solid foundation for further optimization design and practical applications.

关 键 词：MECANUM轮 AGV 三维模型 运动仿真 

分 类 号：TH165[机械工程—机械制造及自动化]