Mecanum轮全向移动平台运动精度的仿真分析

首先对Mecanum轮的运动原理进行说明,然后对4 Mecanum轮的全向移动平台进行运动受力分析,并基于UG对该全向移动平台进行动力学仿真,在改变重心、单轮悬空和水平力作用的情况下,分析位移和运动的准确性变化。然后,对装配有悬挂系统且单轮悬空的情况进行运动分析,说明悬挂系统对4 Mecanum轮全向移动平台的重要性。最后对辊子在直行、横移、旋转运动的情况下的受力进行比较,为辊子材料的选择提供借鉴。

Simulation Analysis of the Motion Accuracy of Mecanum Wheel Omnidirectional Mobile Platform

First,it presents an explanation on the motion principle of Mecanum wheel is described,and then conducts an analyses on the motion stress applied to the omnidirectional mobile platform with 4 Mecanum wheels,a dynamics simulation for the omnidirectional mobile platform is performed based on UG.To analyze the changed displacement and the accuracy of the movement as the gravity center shifts or a single wheel is dangling or the horizontal force is applied,Then,a motion analysis is performed for the case where a single wheel equipped with suspension system is dangling in order to prove the importance of suspension system to the omnidirectional mobile platform with 4 Mecanum wheels.Finally,the applied stress is compared when the roller is under straight movement,lateral movement and rotational movement in an attempt to provide a reference for selecting the roller material.