Development Of Platform For Container Floor Punching Based On Mecanum Wheel

In this paper, in view of the status that punching of container floor is done by work, a scheme of Omni-directional mobile mechanism for punching system is presented, it can improve efficiency and reduce labor intensity, in order to make contributions to realize intelligent and efficient of punching system.Omni-directional system with four Mecanum wheels can overcome the shortcomings of traditional mobile mechanism which unable to realize lateral movement and rotate with zero radius. It can be easily across the narrow cramped space and improve walking efficiency. So it is widely used in domestic, logistics, industrial robots and other fields. It is made up of four reasonable layout Mecanum wheels and realize full mobile by controlling the speed and steering of four wheels. The primary scope of this paper is as follows:(1) This paper describes the research background and significance. With the discussion of different omni-directional system’s characteristics, the research significance and application status of omni-directional platform with Mecanum wheel is introduced in detail. What’s more, the main contents of paper is determined.(2) Roller surfaces and the generatrix equation are derived with engaging theory. Then, solve and draw roller contour curve through Matlab and compare with precise curve.Besides, the design parameters of Mecanum wheel are calculated and wheel model is designed by Solidworks.(3) Establish kinematics model of the four-wheel Mecanum platform and get the relationship between four wheel speed and platform’s center speed by inverse kinematic analysis.Optimize the reasonable layout of wheel-set structure according to inverse Jacobin matrix which is full rank.Meanwhile, the research has established the virtual prototype of the omni-directional platform, and based on the virtual prototype, the kinematic analysis is performed with ADAMS software.(4) The basic shape of four-wheel Mecanum platform is established by using Solidworks software. Static structure analysis is performed with Workbench and the stress distributions of key components is showed.(5) Hardware of four wheel control system is designed and test programs are written. Based on the design, the model of four-wheel Mecanum platform is build. At last, the omni-directional performance is tested.Based on theoretical analysis, simulation analysis and test methods, the omni-directional platform with Mecanum is researched in-depth and the omni-directional performance is inspected visually. What’ most important, it provides a theoretical basis to punching system of containers’ steel keel. Key words: Container Floor; Mecanum wheel; Envelope mesh theory; Kinematic simulation;...