基于嵌套结构的演艺全向车台设计研究

Design of Omnidirectional Vehicles Based on the Nested Structure

演艺车台具有运载演员或布景的作用,是实现舞台丰富表演及多样变化的关键性舞台机械设备。为解决传统演艺车台智能程度低,灵活性差,无法根据节目编排按指定路径任意行走、旋转的问题,提出一种基于嵌套结构的新型演艺全向车台形式,该结构由内外嵌套式双环架体组成,通过外环大齿圈与内环张紧调节驱动小齿轮部件啮合,以实现嵌套内外双环的相对运动及组合运动。对提出的结构进行了车台设计;基于运动学原理对全向车台进行运动学分析,建立运动学模型,在此基础上进行航迹推算并建立三维模型,对全向车台进行动力学分析;搭建了基于嵌套结构的全向车台试验平台,进行了系统实验与测试。结果表明,基于嵌套结构的舞台用全向车台机械性能好,且可以实现鲁棒性好、精度高的轨迹运动。

The performance wagon is the key stage mechanical equipment to realize rich performances and diversified changes on the stage,which can carry actors or scenery.In order to solve the problem of low intelligence and poor flexibility of the traditional performance wagon,which can not walk or rotate arbitrarily according to the designated path in accordance with the program arrangement,a new type of performance omnidirectional vehicle form based on nested structure is proposed.The structure is composed of an inner and outer nested double ring frame,and the relative motion and combined motion of the nested inner and outer double rings are realized by meshing the large gear ring of the outer ring with the tension adjustment of the inner ring and driving the pinion components.The omnidirectional vehicle for the proposed structure is designed.Based on the kinematics principle,the kinematics analysis system is carried out for the omnidirectional vehicle,and the kinematics model is established.On this basis,the track estimation is carried out and the threedimensional model is established to analyze the dynamics of the omnidirectional vehicle.An omnidirectional vehicle platform based on the nested structure is built for system experiment and tests.The results show that the omnidirectional vehicle based on the nested structure has good mechanical performance,and can realize trajectory motion with good robustness and high precision.