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工程设计学报
工程设计学报  2016, Vol. 23 Issue (4): 333-337,377    DOI: 10.3785/j.issn.1006-754X.2016.04.006
建模、分析、优化和决策     
全向车测量轮导引方式的设计与仿真
朱艳杰1, 宜亚丽1, 景常海1, 戴勇波2
1. 燕山大学 机械工程学院, 河北 秦皇岛 066004;
2. 北京星航机电装备有限公司, 北京 100074
Design and simulation of measuring wheel guidance mode for omnidirectional vehicle
ZHU Yan-jie1, YI Ya-li1, JING Chang-hai1, DAI Yong-bo2
1. College of Mechanical Engineering, Yanshan University, Qinhuangdao 066004, China;
2. Beijing Xinghang Mechanical-Electrical Equipment Co., Ltd., Beijing 100074, China
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摘要：

针对全向车位姿检测中由于麦克纳姆轮驱动打滑引起的整车运行精度测量误差大的问题，提出了测量轮自主导引方式，建立数学模型，并对AGV系统结构进行了阐述.设计方案中的整车六轮布局，采用四驱两从动，俩从动轮作为测量轮，运用差速原理获取自动导引全向车的路径信息，同时解决了现有单测量轮全向车原地回转状态下位姿无法精确检测的难题.提出浮动三自由度测量轮结构设计，实现实时接触地面，保证位姿检测的准确性，并对直线、曲线、原地自转三种典型运动状态下的位姿检测进行了ADAMS仿真，结果表明，此种导引方式可满足灵活设置路径下全向车位姿的精确检测，适用范围广.
关键词： 全向车;  测量轮导引;  麦克纳姆轮;  运动学仿真    
Abstract:

Aiming at solving the large measurement error of vehicle operating accuracy caused by the slip of driving Mecanum wheel in the detecting of the position and attitude of omnidirectional vehicle,measuring wheel guiding approach is proposed.Mathematical model is established,and the structure of AGV system is expounded.The layout structure of omnidirectional vehicle was made up of six wheels,including four driving wheels and two driven wheels in the design.The two driven wheels were used as measuring wheels,and the differential principle was applied to the two measuring wheels to get the path information of automatic guided omnidirectional vehicle,at the same time,the problem that the existing omnidirectional vehicle with single measuring wheel couldn't detect accurately in-situ rotary posture was solved.The structure of measuring wheel with floating three freedoms was put forward.It could maintain contact with ground in real time and ensure the accuracy of position detection.ADAMS simulation for the pose detection of three typical movements which were straight line,curve and in situ rotation is performed.The results show that this guidance mode can meet the accurate detection of position and attitude of omnidirectional vehicle on flexible path setting and has a wide application range.
Key words: omnidirectional vehicle    measuring wheel guidance    Mecanum wheel    kinematics simulation
收稿日期: 2015-11-27 出版日期: 2016-08-28
CLC:  TH11  
基金资助:

国家国防科技工业局科工一司资助项目（2012764）.
通讯作者: 宜亚丽(1976—),女,山西永济人,副教授,博士,从事新型机械传动的理论与应用技术研究,E-mail:yiyali@ysu.edu.cn.http://orcid.org//0000-0001-8123-4172     E-mail: yiyali@ysu.edu.cn
作者简介: 朱艳杰(1987—),女,河北唐山人,硕士,从事自主导引车本体设计与运动性能分析等研究,E-mail:zhuyanjie1987@163.com.http://orcid.org//0000-0002-5465-9658
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引用本文:

朱艳杰, 宜亚丽, 景常海, 戴勇波. 全向车测量轮导引方式的设计与仿真[J]. 工程设计学报, 2016, 23(4): 333-337,377.

ZHU Yan-jie, YI Ya-li, JING Chang-hai, DAI Yong-bo. Design and simulation of measuring wheel guidance mode for omnidirectional vehicle. Chinese Journal of Engineering Design, 2016, 23(4): 333-337,377.

链接本文:

https://www.zjujournals.com/gcsjxb/CN/10.3785/j.issn.1006-754X.2016.04.006    或    https://www.zjujournals.com/gcsjxb/CN/Y2016/V23/I4/333

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