Research And Design Of Modular Material Transfer Platform Based On Omni-directional Wheel

In the logistics industry,with the Omni-directional wheel getting more and more attention as the core of the logistics transmission system,in order to solve the problem with the traditional transmission mechanism,this article proposed a design of a new type of omnidirectional wheel based modular material transmission platform.This design has a simple structure.It is a honeycomb logistics delivery platform which is composed of hexagonal modules based on omnidirectional wheels.Any three omni-directional wheel can form an equilateral triangle.The upper computer graphical interface CAN synchronize the material motion state in real time,connect the controller of each module through CAN network,and manually draw the transmission path and input the transmission speed on the interface,so that the material CAN be transferred flexibly according to the demand,which greatly improves the transmission efficiency.If the module fails,the A* algorithm based on the honeycomb grid and the Bezier curve will be fusion algorithm to plan the optimal smooth and non-bending transmission path automatically.The transmission platform only needs to be removed and replaced mechanically,and the maintainability and anti-interference are high.The main research contents of this article are as follows:(1)Based on modularization of omni-directional wheel material mechanical structure has carried on the overall design,transmission platform for this topic the kinematics model and dynamics model is established,on the roll of the omni-directional wheel dynamics analysis,the study on its skid characteristics,and analyze the movement characteristics of material transmission platform,Adams motion simulation and error analysis of the data.Based on modular material of omni-directional wheel transmission platform overall scheme of the control system design,including the machine hardware design and software design based on STM32,among them,the motor selection is completed based on BP neural network PID control algorithm,the algorithm model in Matlab simulation model is compared with the traditional algorithm,and finally to communicate design based on QT for PC man-machine interface design.(2)Based on the analysis of several different types of grid and,on the basis of several traditional path planning algorithms,aiming at the characteristics of the object,combining with the honeycomb lattice contrast analysis of traditional algorithm and A * algorithm,and finally the A * algorithm based on honeycomb lattice fusion with the Bezier curve,makes the transmission path smooth without fold point,this topic of obstacle avoidance algorithm are obtained.(3)To build test platform,put on the size of fixed object platform,the test path of several typical and obstacle avoidance,and the load path of displacement and velocity deviation,transmission through camera to object motion capture data analysis and summary,from the point of view of experiment analysis of the modular material transmission platform based on the omni-directional wheel transmission performance and analyzes the error sources of experiment verified the modular material transmission platform based on the omni-directional wheel running stability and in accordance with the planning path of reliable operation.This article through the modular material transmission platform based on the omni-directional wheel mechanical structure design and its motion analysis and simulation,the design of the control system of path planning algorithms,transmission platform,finally,building experimental prototype test and verify the stability of its operation reliability,research and design a new type of modular material transmission platform based on omni-directional wheel.