摘要
为得到基于Mecanum轮全向移动平台的精确控制律,对Mecanum轮各组成部分几何结构关系进行分析,解得辊子理论母线方程及不同接地点处辊子半径大小;对辊子生成方式及轮体构建过程进行仿真,验证了Mecanum轮包络线形状及连续性;分析了生成等速螺旋线、椭圆弧的过程及二者理论母线的近似效果,提出了以圆弧逼近理论母线的方法,并对比了三种曲线的近似效果,结合仿真结果得出圆弧为近似效果最佳的平面曲线,其相对于理论圆周的最大相对误差为0.17%,所得结论有助于简化Mecanum轮加工过程。
To achieve the control law of omni-direetional platform base on Mecanum wheel, the geometric structure relation of the Meeanum wheel constituent part is analyzed through which the roller＇s theoretical equation of the envelope and its radius on different contact point are, solved, the method generated the roller and the process of constructing the wheel body are simulated to examine the shape and continuity of Mecanum wheel＇s envelope. Then the process of generating isovelocity helix and elliptic arc, and the approximate effects of both their theoretical genertrixes are analyzed. The method of approxiamating the theoretical generatrix by arc： is put forwad and the approximate effects of the three kings of curves are compared. The simulation results show that the arc has the best approximate effect for the best plane curve, and the maximum relative error of the theoretical cirunfference is 0. 17%. The conclusion can simplify the manufacturing process of Mecanum wheel.
出处
《机械设计与研究》
CSCD
北大核心
2014年第5期76-79,83,共5页
Machine Design And Research
