Mecanum四轮全方位移动机构运动分析与仿真-刘洲

Mecanum刘　洲,吴洪涛(,　210016):全方位移动机器人具有平面运动的全部3个自由度,机动性好。介绍了技术较为成熟的Mecanum全方位轮的原理结构,分析了由4个Mecanum全方位轮组成的全向移动机构的运动原理以及轮体主要参数的定义,并且进行了基于ADAMS软件的运动仿真。:Mecanum轮;运动特性;全方位移动机构;运动仿真:TP24　　　:A　　　:1672-1616(2011)05-0043-04　　。,,,、。、、,、。、[1-7]。,。、3。3,3,。,。,Mecanum、。1　MecanumMecanumBengtIlon1973。Mecanum。,,45°[1-7]。3,,,。,,。3Mecanum。41[1,5]。i2。图1　麦卡纳姆车轮结构示意图图2　第i轮结构4v1,v2,v3,v4,vg1,vg2,vg3,vg4。OS,OCii,xSOSyS,xCiOCiyCiOCi。:2010-11-02:　(1987-),,,,。43··　　　　　Mecanum……　　2,2,xC2OC2yC2vOC2:　　vOC2=Rcosα0sinαω2vg2(1)xSOSySvO2:　　vO2=10l101-l2vxvyω0(2)(1)、(2):10l101-l2vxvyω0=Rcosα0sinαω2vg2(3):ω1ω2ω3ω3=Kvxvyω0=　　1R1Rtanα-(l1tanα+l2)Rtanα1R-1Rtanαl1tanα+l2Rtanα1R-1Rtanα-(l1tanα+l2)Rtanα1R1Rtanαl1tanα+l2Rtanαvxvyω0=　　　　1R11-(l1+l2)1-1l1+l21-1-(l1+l2)11l1+l2vxvyω0(4)K。,,,[8]。Mecanum,4,。,,,,。,rank(K)=3,,rank(K)3,,[5-6,9],:l1tanα+l2Rtanα≠0α≠-arctanl2l1(5)　　(4):vx,vy,ω0,。:vx=0,vy=0,ω0≠0,OS,-ω1=ω2=-ω3=ω4=(l1tanα+l2)Rtanαω0(6)　　vx=vcosθ,vy=vsinθ,ω0=0,vyθ,:ω1=ω4=v(cosθ-sinθ/tanα)/Rω2=ω3=v(cosθ+sinθ/tanα)/R(7)　　,,ω1,ω2,ω3,ω4,。2　,Mecanum,。3[7]。AB。ABz45°。ABAB,[6-7]。图3　辊子曲线的生成示意图3ABxy、z45°,CAB。R,AB,:12x2+y2-R2=0(8)　　。λ,λ=11,λ12,2。4420113　　40　5λ=N(φ-2θ0)R2πR=N2π(φ-2θ0)(9):θ0;N;φ,。r:r=CC′=DE′=AEsinφ-θ2=2Rsinθ2sinφ-θ2(10)rmax=rθ=φ2,rmin=rθ=θ0。:L=2(AD-2AD′|θ=θ0)=2[b-2AE|θ=θ0cos(φ-θ02)]=2[b-4Rsinθ02cos(φ-θ02)](11)　　Rb,,rmin,。MathematicaMATLAB,4Mathematica。图4　Mecanum轮系辊子轮廓示意图3　Mecanum,Solid-Works。Solid-Works,,。,4MecanumADAMS,5。图5　移动系统ADAMS造型图,4,,,6,7。图6　全方位移动平台直线运动质心位移—时间曲线图7　全方位移动平台原地转动质心位移—时间曲线,,,7:,5mm,180mm×210mm,。8。845··　　　　　Mecanum……:,0.4mm,60mm,Δ=0.4/60=0.67%。。图8　全方位移动平台竖直跳动幅度—时间曲线4　Mecanum,。,,3。,,,,。,,,,。:[1]　IoanDoroftei,VictorGrosu,VeaceslavSpinu.DesignandcontrolofanOmni-Directionalmobilerobot[C]//NovelAlgorithmsandTechniquesInTelecommunications,AutomationandIndus-trialElectronics.SpringerScience+BusinessMediaB.V,2008:105-110.[2]　JefriEfendiMohdSalih,MohamedRizon,SazaliYaacob,etal.DesigningOmni-Directionalmobilerobotwithmecanumwheel[J].AmericanJournalofAppliedSciences,2006,3(5):1831-1835.[3]　OlafDiegel,AparnaBadve,GlenBright,etal.Improvedmecanumwheeldesignforomnidirectionalrobots[C]//IEEEInternationalConferenceonRoboticsandAutomation.Auck-land,NewZealand,2002:117-121.[4]　GfrerrerA.Geometryandkinematicsofthemecanumwheel[J].ComputerAidedGeometricDesign,2008,25(25):784-791.[5]　　,　,　.ZigBee[J].,2008,36(7):354-356.[6]　.[J].,2006(12):63-65.[7]　,　,,.[J].,2009,11(2):65-68.[8]　.[M].:,1996.[9]　.Mecanum[J].,2009,45(5):307-310.TheMotionAnalysisandSimulationofOmni-DirectionalMovingMechanismwithFourMecanumWheelsLIUZhou,WUHong-tao(NanjingUniversityofAeronauticsandAstronautics,JiangsuNanjing,210016,China)Abstract:Omni-directionalmobilerobotpossessesthreedegreeoffreedomontheplaneandhasagoodflexi-bility.ItintroducessomeprincipleandstructureoftheMecanumwheel,analyzesthemovementcoordinatedprincipleofOmni-directionalmobilemechanismwithfourMecanumwheel,designssomeimportantparame-tersofMecanumwheels,andsimulatesthesystemmotionbasedonADAMSplatform.Keywords:MecanumWheel;MotionCharacteristics;Omni-DirectionalMovingMechanism;MotionSimu-lation　　4620113　　40　5