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工程设计学报
Chinese Journal of Engineering Design  2016, Vol. 23 Issue (4): 333-337,377    DOI: 10.3785/j.issn.1006-754X.2016.04.006
Modeling, Analysis, Optimization and Decision     
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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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     
Received: 27 November 2015      Published: 28 August 2016
CLC:  TH11  
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ZHU Yan-jie
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DAI Yong-bo
Cite this article:

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.

URL:

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


全向车测量轮导引方式的设计与仿真

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 

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