The Dynamic Analysis For The Driving Performance Of Omnidirectional Transport Robot

With the increasing innovation of raw chemical materials and new products.The transportation industry of dangerous chemicals mainly based on logistics and warehousing has also emerged,and transport robot as an important execution device of modern intelligent warehouse,its good stability is the key to ensure the safety of transportation.Therefore,the dynamic performance of its driving was studied exhaustively to advance the road adaptability of the omnidirectional transport robot.(1)Establishment of the whole system of dynamic model and four wheel excitation model of the transport robot.Firstly,the equivalent method of the“amplitude modulation”and“frequency modulation”filtering white noise correlation functions was deduced.Based on the Pade exponential function approximation theory,the four wheel spatial domain and time domain pavement excitation model were constructed by using the functional relationship between time and travel distance.Secondly,the mechanical model of the robot system and the energy dissipation equation of the suspension system were established.Finally,the general analysis of the dynamic characteristics of the whole machine was carried out,and the optimization of the performance parameters of the suspension system was completed.(2)Accomplishment of the identification of the pavement roughness BP neural network of the whole machine model.The orthogonal test design method was introduced to optimize the input scheme in consideration of the relationship between the input schemes of different vibration responses and pavement roughness,and the accuracy of the neural network test under different working conditions was verified by using the evaluation index,thus,obtaining optimal combination scheme for the vibration response.The influence of robot body acceleration and pavement grade on pavement roughness identification results was analyzed.(3)Accomplishment of simulation of the analysis of driving dynamic performance of the transport robot.Based on the system dynamic simulation model and the optimal combination scheme of vibration response,the dynamic analysis for the driving performance of the robot linear driving of ordinary pavement,accelerated roadblock pavement and deceleration roadblock pavement were analyzed,thus obtaining the time domain waveform of each vibration response,and the weighted acceleration values of robot body vibration under the three pavements are 0.052 m/s~2,0.069 m/s~2and 0.058 m/s~2,and the ride smoothness is excellent.At the same time,the general law of the change of robot space frequency and driving state was summarized.Finally,the relationship between suspension dissipation power and the analysis of driving dynamic performance of transport robot under different driving acceleration states of robots was discussed.(4)Experiment on the performance test of omnidirectional transport robot.First of all,the vibration test experimental platform was built.Under different accelerations,the maximum deviation rate of robot acceleration driving,uniform driving and deceleration driving acceleration tests are 2.6%,0.65%and 2.8%.Secondly,the linear driving vibration test of the ordinary pavement,accelerated roadblock pavement and deceleration roadblock pavement was carried out,and the weighted acceleration of the three working conditions are 0.055 m/s~2,0.072 m/s~2and 0.062 m/s~2,and the ride smoothness is excellent,and the weighted acceleration value and the theoretical weighted acceleration value of the experimental test are at the optimal level.Finally,the omnidirectional driving performance test and frequency domain analysis were carried out.The above experimental test results meet the design requirements,and verify the feasibility of the dynamic performance analysis and design method of the robot adopted in this paper.