摘要
基于Mecanum的全方位运动机构具有很好的移动性能,不需要转向机构便可实现任意方向的运动。据此特点,介绍了Mecanum轮的结构并且提出轮体主要参数的定义,分析全向移动机构的运动原理,建立一种全向移动平台,由4个Mecanum轮协同驱动控制。通过ADAMS软件对其完成相应的运动学建模、仿真分析。
Omnidirectional motion mechanism based on Mecanum has very good mobile performance.It can realize arbitrary direction of movement without steering mechanism.According to this characteristic,the structure of Mecanum wheel is introduced and the definition of the main parameters of the wheel body is put forward.The principle of the omnidirectional moving mechanism is analyzed,and an omnidirectional mobile platform is established,driven by four Mecanum wheel drives.Through the ADAMS software,corresponding kinematics modeling and simulation analysis are completed.
作者
许鹏
郑再象
陆秋懿
张振越
王凯强
Xu Peng;Zheng Zaixiang;Lu Qiuyi;Zhang Zhenyue;Wang Kaiqiang(College of Mechanical Engineering,Yangzhou University,Yangzhou City,Jiangsu Province 225000,China)
出处
《农业装备与车辆工程》
2018年第7期64-66,共3页
Agricultural Equipment & Vehicle Engineering
