Structural Design And Analysis Of Omnidirectional Mobile Platform Based On Mecanum Wheel

Foundry industry plays an important role in the national economy,and casting equipment can determine the efficiency and quality of foundry to a certain extent.At present,there are some problems in the moving process of casting equipment,such as poor flexibility and low precision,which seriously affect the casting work.The mobile platform based on Mecanum wheel can realize the planar three-degree-of-freedom zero turning radius movement.Therefore,in order to cope with the complex casting environment,an omnidirectional mobile platform based on Mecanum wheel and its matching leveling device were designed in this paper,and the feasibility of the platform was verified through simulation.The main work of this paper includes:Firstly the structural design and analysis of C200 Mecanum wheel were carried out.The theoretical contour curve equation of roller was deduced according to the principle of envelope forming circle,and the feasibility of approximation method of roller busbar was analyzed.The contour curve of roller was generated by using MATLAB,the three-dimensional model of Mecanum wheel was created and analyzed by the finite element simulation.The layout of Wheel system was analyzed,and the optimal Wheel system scheme was designed and optimized.Secondly the structure design and analysis of C200 omnidirectional mobile platform based on Mecanum wheel were carried out.According to the working environment and design requirements,the design scheme was formulated.The driving system,the structure of supporting legs and other body parts were designed and calculated.The mechanical characteristics of the key parts of the body are analyzed,and the results showed that the structure of the platform meets the requirements of stiffness and strength.Thirdly kinematics analysis and virtual prototype simulation of C200 omnidirectional mobile platform were carried out.The kinematics equation of the platform was established according to the mechanical characteristics of Mecanum wheel,and the Velocity relationship of the mobile platform and four-wheel.The virtual prototype of the mobile platform was simulated by ADAMS software,and the motion form and stability of the mobile platform were analyzed.Compared with the theoretical calculation,the results verified the correctness of the theoretical calculation of kinematics and the stability of the motion of the mobile platform.Finally,the solutions to reduce the errors were put forward by analyzing the causes of the errors.Finally design and experiment of leveling system for C30 omnidirectional mobile platform were carried out.The work program of the leveling system was determined,including the support mode,transmission mechanism and control process.The experimental platform about the omnidirectional mobile platform was built and tested,and finally the feasibility of the leveling system was verified.Figure [58] Table [7] Reference [82]...