| Omni-directional mobile robots have become an important part of robot research.It can be very small and complex environment in the movement,in the hospital,bustling streets,warehouses and other places have great application value.This article addresses the needs of satellite product assembly,An omni-directional mobile platform for mobile-arm assembly is designed,The completion of all-round mobile chassis test prototype production and experiment.The main research content is as follows:Firstly,this paper introduces the existing omni-directional mobile mechanism,Summarize their advantages and disadvantages and the scope of application,Combined with a variety of omni-directional mobile structure and the characteristics of the needs of the subject of a differential omni-directional mobile mechanism,The principle of omnidirectional motion of differential omni-directional moving mechanism is introduced,And its structural design and modeling.Then the kinematic modeling of the differential omni-directional mobile platform is carried out and the Adams virtual prototype is simulated.And verify that it can achieve omnidirectional motion and meet the requirements of this subject.The mechanics model of differential omni-directional moving mechanism is established.And the topology optimization and parameter optimization design of the differential small platform are made with ANSYS WORKBENCH.The topology optimization design of the whole platform is carried out.Finally,a small experimental prototype is built on the differential omni-directional mobile platform,and a simple control system is set up.The experimental results show that the omnidirectional moving platform can be tested in all directions and the omnidirectional motion reliability under heavy load is verified. |
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