本文選題：集裝箱底板　切入點：Mecanum輪　出處：《南京林業(yè)大學》2015年碩士論文

【摘要】：為提高集裝箱底板及鋼制龍骨打孔效率,降低人工勞動強度,論文針對集裝箱底板人工打孔的現(xiàn)狀,提出將全向移動機構應用于打孔系統(tǒng)中,以期對集裝箱底板安裝的智能高效化起促進作用。基于Mecanum輪的全向移動系統(tǒng)較傳統(tǒng)移動機構具有明顯優(yōu)勢,能克服傳統(tǒng)移動機構無法實現(xiàn)橫向移動和原地零半徑旋轉的缺陷,可方便穿梭于狹窄擁擠空間,提高行走效率,廣泛應用于生活、物流、工業(yè)和機器人等多個領域。其通常由四個Mecanum輪合理布局構成,通過控制四個輪子的轉速與轉向并經(jīng)由不同組合,就能實現(xiàn)全向移動。論文以Mecanum四輪全向移動平臺為研究對象,開展了以下研究工作:(1)闡述研究的背景及意義,在對比分析多種輪式全向移動機構的基礎上,詳細介紹了基于Mecanum輪的全向移動平臺的國內外研究現(xiàn)狀及應用情況,確定論文研究的主要內容。(2)運用包絡嚙合理論推導輥子母線方程,結合Matlab軟件給出輥子輪廓曲線并與精確母線對比;根據(jù)母線方程進行Mecanum輪參數(shù)設計并運用三維設計軟件Solidworks構建出輪模型。(3)建立Mecanum四輪全向移動平臺運動學模型并對其進行逆運動學分析,得到四輪轉速與平臺中心轉速的映射關系;運用全向移動條件——速度逆雅克比矩陣滿秩優(yōu)選出輪組合理結構布局,并利用動力學仿真軟件ADAMS對平臺進行運動學仿真。(4)采用Solidworks軟件對移動平臺進行基本造型,通過虛擬裝配建立Mecanum輪仿真模型,并運用有限元分析軟件Workbench對輪體進行受載靜力分析,得到關鍵零件的應力分布情況。(5)搭建Mecanum四輪全向移動平臺模型,設計四輪運動控制的硬件電路并在運動學分析的基礎上編寫相應測試程序,直觀地驗證平臺的全向移動性能。論文利用理論分析、軟件仿真分析及試驗測試的方法,對Mecanum四輪全向移動平臺進行了較為深入的分析與研究,直觀地驗了平臺的全向移動性能,為全向移動平臺應用于集裝箱底板打孔提供了理論基礎。
[Abstract]:In order to improve the efficiency of container bottom plate and steel keel drilling and reduce the labor intensity, the paper puts forward that the omnidirectional moving mechanism should be applied to the drilling system in view of the present situation of the container bottom plate manual drilling.It is expected to promote the intelligent and high efficiency of container bottom plate installation.The omnidirectional movement system based on Mecanum wheel has obvious advantages over the traditional mobile mechanism. It can overcome the defects that the traditional mobile mechanism can not realize lateral movement and zero radius rotation in situ, and can shuttle conveniently in narrow crowded space and improve the walking efficiency.Widely used in life, logistics, industry and robotics and other fields.It is usually composed of four Mecanum wheels. By controlling the rotation speed and steering of the four wheels and through different combinations, the omnidirectional movement can be realized.This paper takes the Mecanum four-wheel omnidirectional mobile platform as the research object, carries out the following research work: 1) expound the background and significance of the research, and on the basis of comparative analysis of various wheeled omnidirectional mobile mechanisms,The research status and application of omnidirectional mobile platform based on Mecanum wheel are introduced in detail, and the main content of this paper is determined. The envelope meshing theory is used to deduce the roll busbar equation.The contour curve of roller is given with Matlab software and compared with accurate bus.According to the generatrix equation, the parameter design of Mecanum wheel is carried out, and the wheel model is constructed by using 3D design software Solidworks.) the kinematics model of Mecanum four-wheel omnidirectional moving platform is established and the inverse kinematics analysis is carried out.The mapping relation between the four wheel speed and the platform center speed is obtained, and the reasonable structure layout of the wheel group is selected by using the omnidirectional moving condition-velocity inverse Jacobian matrix with full rank.The dynamic simulation software ADAMS is used to simulate the kinematics of the platform. The basic modeling of the mobile platform is carried out by using Solidworks software. The simulation model of Mecanum wheel is established by virtual assembly, and the static load analysis of the wheel body is carried out by using the finite element analysis software Workbench.The model of Mecanum four-wheel omni-directional moving platform is built, the hardware circuit of four-wheel motion control is designed and the corresponding test program is compiled on the basis of kinematics analysis, and the omnidirectional movement performance of the platform is verified intuitively.Using the methods of theoretical analysis, software simulation and test, the paper makes a deep analysis and research on the Mecanum four-wheel omnidirectional mobile platform, and intuitively verifies the omnidirectional mobility performance of the platform.It provides a theoretical basis for the application of omnidirectional mobile platform in container bottom perforation.
【學位授予單位】：南京林業(yè)大學
【學位級別】：碩士
【學位授予年份】：2015
【分類號】：U169.3

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本文編號：1693664