基于麦克纳姆轮的全方位移动平台关键技术研究

基于麦克纳姆轮的全方位移动平台移动性能卓越，其本体无需做出任何转动便可实现任意方向的运动，因此在制造业和仓储物流自动化领域应用前景广阔。本文提出了一种可行的麦克纳姆轮设计方法和制造工艺，并建立了基于麦克纳姆轮的全方位移动平台运动学理论模型，为全方位移动平台控制算法提供了理论依据。在此基础上，自主设计和开发了基于麦克纳姆轮的全方位移动平台原理样机。

Key Technology Research Mobile Platform Based about Omni-directional on Mecanum Wheel

Omni-directional mobile platform based on mecanum wheel shows an outstanding mobile performance. Because it can move in omni-direction without steering wheels, the platform has broad application prospects in manufacturing industry and warehousing and logistics automation. This paper presents an effective design method and manufacturing process about mecanum wheel, and the kinematics model about omni-directional mobile platform based on mecanum wheel has been established in order to provide theoretical basis for the control aIgorithm of omni-directional mobile platform. Furthermore, a prototype of omni-directional mobile platform based on mecanum wheel has been designed and developed.