發(fā)布時(shí)間：2018-09-18 13:59

【摘要】：移載機(jī)械作為基礎(chǔ)裝備,被廣泛應(yīng)用于生產(chǎn)、生活的各個(gè)領(lǐng)域。由于現(xiàn)代物流對于活動空間及生產(chǎn)中對于運(yùn)動精度和靈活性方面的要求越來越高,要求新型的移載機(jī)械能滿足小空間運(yùn)動和靈活的運(yùn)動姿態(tài)控制方面的要求。研發(fā)能夠滿足新需求的全方位移載平臺的現(xiàn)實(shí)意義非常重大。本文在借鑒國內(nèi)外現(xiàn)有研究成果的基礎(chǔ)上進(jìn)行了創(chuàng)新。分析和設(shè)計(jì)了一種新型的全方位移載平臺。本文的主要工作如下: 1.通過分析國內(nèi)外在全方位運(yùn)動平臺方面的一些研究成果,設(shè)計(jì)了新型移載平臺的基礎(chǔ)部件,即新型二維柔性運(yùn)動輪; 2.根據(jù)全方位移載平臺的運(yùn)動特性,建立了新型二維柔性運(yùn)動輪的排布方式并以此為基礎(chǔ)建立了運(yùn)動學(xué)模型,分析了全向移載平臺靈活運(yùn)動的可行性; 3.根據(jù)實(shí)際運(yùn)動要求以新型全方位移載平臺使用的新型二維柔性運(yùn)動輪作為全向移載平臺動力傳輸?shù)淖罱K環(huán)節(jié),建立了全向運(yùn)動平臺的傳動系統(tǒng); 4.對新型全向移載平臺傳動系統(tǒng)的結(jié)構(gòu)進(jìn)行分析、選擇相應(yīng)的動力源、動力輸出元器件及相關(guān)的輔助元器件,并以此為基準(zhǔn)建立了運(yùn)動控制策略; 5.通過對新型全向移載平臺的運(yùn)動學(xué)模型和傳動系統(tǒng)的分析,得出該平臺初始動力輸出元器件的控制目標(biāo),選擇并設(shè)計(jì)人機(jī)交互的方式,選擇、設(shè)計(jì)具體的控制元器件并構(gòu)建了主要控制電路的結(jié)構(gòu)。
[Abstract]:As the basic equipment, the load-shifting machine is widely used in all fields of production and life. Because modern logistics is demanding more and more precision and flexibility in moving space and production, it is required that the new type of moving machine can meet the requirements of small space motion and flexible motion attitude control. Research and development can meet the new needs of the full-directional load-shifting platform is of great practical significance. Based on the existing research results at home and abroad, this paper innovates. This paper analyzes and designs a new kind of omnidirectional load transfer platform. The main work of this paper is as follows: 1. Based on the analysis of some research results of omnidirectional motion platform at home and abroad, the basic components of the new load-shifting platform are designed, that is, the new two-dimensional flexible motion wheel. 2. According to the motion characteristics of the omnidirectional load transfer platform, the layout of the new two-dimensional flexible motion wheel is established and the kinematics model is established based on it. The feasibility of the flexible motion of the omnidirectional moving platform is analyzed. 3. According to the actual motion requirements, a new type of two-dimensional flexible motion wheel is used as the final link of the power transmission of the omnidirectional moving platform, and the transmission system of the omnidirectional moving platform is established. 4. The structure of the new drive system is analyzed, and the corresponding power sources, power output components and related auxiliary components are selected, and the motion control strategy is established based on this. 5. Through the analysis of the kinematics model and transmission system of the new omnidirectional load transfer platform, the control target of the initial power output components of the platform is obtained, and the mode of man-machine interaction is selected and designed. The specific control components are designed and the structure of the main control circuit is constructed.
【學(xué)位授予單位】：南京航空航天大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2011
【分類號】：TH238

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本文編號：2248137