摘要
以全向自行式升降平台为基础,全面、深入分析了以麦克纳姆轮为代表的全向移动原理,给出了详细的麦克纳姆轮廓线计算公式,在此基础上,采用ADAMS动力学仿真软件,对全向自行式升降平台的动力学特性进行了仿真分析,全面掌握了麦克纳姆轮的运动特点和受力规律。针对麦克纳姆轮运动过程中存在的问题,给出了修正方法。
Based on the omnidirectional self-propelled lifting platform, the paper analyzes the omnidirectional movement theory in the comprehensive and deep manner with Mecanum Wheel as an example, and describes the detailed contour line formula for the Mecanum Wheel ; based on this, the dynamic simulation software ADAMS is adopted for the simulation analysis of dynamic characteristics of the omnidirectional self-propelled lifting platform, with the motion features and bearing rule of Mecanum Wheel fully obtained. The correction method is put forward for problems existing during the movement of Mecanum Wheel.
出处
《起重运输机械》
2013年第6期51-55,共5页
Hoisting and Conveying Machinery
关键词
全向自行式升降平台
麦克纳姆轮
设计
分析
omnidirectional self-propelled lifting platform
Mecanum Wheel
design
analysis
