【摘要】 基于Mecanum轮的全方位移动平台可以实现零半径转向,具有工作时占地面积极小等特点。介绍了麦克纳姆轮的基本结构,为解决当前一体成型的Mecanum轮轮毂加工困难及成本高的问题,提出了一种新型的轮毂与辊子支撑架组合定位辊子轴的方式,建立了一种新型的全方位移动平台,拆装方便且有效地降低了制造成本。通过ADAMS软件,在理想空载与满载的情况下,完成对全方位移动平台的运动学建模及仿真分析。更多还原

【Abstract】 Based on Mecanum’s omni-directional mobile platform, it can realize zero-radius steering and has a small footprint when working. The basic structure of the Mecanum wheel is introduced. In order to solve the problem of difficult processing and high cost of the currently integrated Mecanum wheel hub, a new type of hub and roller support frame is proposed to combine the positioning of the roller shaft, and a new type is established. The omni-directional mobile platform facilitates disassembly and assembly and reduces manufacturing costs. Through the ADAMS software, the kinematics modeling and simulation analysis of the omni-directional mobile platform is completed under ideal airborne and full load conditions.更多还原