向心型履带式全方位移动平台运动分析

doi:10.3969/j.issn.1000-1093.2017.12.003

兵工学报 ›› 2017, Vol. 38 ›› Issue (12): 2309-2320.doi: 10.3969/j.issn.1000-1093.2017.12.003

向心型履带式全方位移动平台运动分析

张豫南¹，杨怀彬¹，黄涛^1,2，张舒阳¹，房远¹

（1.陆军装甲兵学院兵器与控制系，北京 100072； 2.63983部队，江苏无锡 214035）

收稿日期:2017-03-21 修回日期:2017-03-21 上线日期:2018-02-01
作者简介:张豫南（1961—），男，教授，博士生导师。 E-mail： zhang_yunan@sina.com
基金资助:
国家国防科技工业局技术基础研究项目（2015ZB15）

Analysis about Motion of Centripetal Tracked Omnidirectional Mobile Platforms

ZHANG Yu-nan¹， YANG Huai-bin¹， HUANG Tao^1,2， ZHANG Shu-yang¹， FANG Yuan¹

(1.Department of Arms and Control Engineering，Academy of Army Armored Force，Beijing 100072，China;2.Unit 63983 of PLA， Wuxi 214035， Jiangsu，China)

Received:2017-03-21 Revised:2017-03-21 Online:2018-02-01

摘要/Abstract

摘要： 针对轮式全方位移动平台在负重、振动等方面的不足，基于全方位履带结构设计了向心型全方位移动平台，并对平台进行了运动特性分析。列举三履带、四履带平台布局形式，建立了平台运动学和动力学模型。分析平台运动的各向相异性，得到最大速度和最大加速度分布规律，确定了两种平台合理的辊轮偏置角分别为α≥π3 rad和α≥π4 rad. 选取相同辊轮偏置角进行对比分析后可知，四履带平台相对于三履带平台在速度和加速度方面都有较大的提升，但三履带平台的运动均衡性较好。比较了两种平台在体积、质量、控制等方面的优点和缺点。利用ADAMS软件建立了两种平台的虚拟样机，针对横向、纵向和中心转向3种典型全方位运动及其各向相异性进行了仿真。仿真结果表明，所建平台具备全方位移动性能，同时验证了该平台的运动特性。

关键词: 兵器科学与技术, 全方位移动平台, 履带, 向心型

Abstract: For the deficiencies of current wheeled omnidirectional platform in loading capability and vibration, centripetal tracked omnidirectional mobile platforms are designed based on the structure of omnidirectional mobile track, and their motion characteristics are analyzed. The layout forms of three-and four-track omnidirectional platforms are presented, and the kinematics and dynamics models are established. Anisotropies of omnidirectional platforms are analyzed to achieve the distribution rules of maximum speed and maximum acceleration, and determine the most suitable offset angles of α≥π3 rad and α≥π4 rad. Selecting same roller offset angle to compare the motion characteristics of mobile platforms, the four-track platform has greater improvements than the three-track platform in speed and acceleration, but the three-track platform has better motion balance. The advantages and disadvantages of two platforms in volume, weight, control and other aspects are compared. The virtual prototypes of two platforms are developed using ADAMS, and three kinds of typical motions are simulated: longitudinal motion, lateral motion, central steering motion. The motion characteristics of the platforms are verified. The simulated results show that the centripetal platforms have omnidirectional mobile ability. Key

Key words: ordnancescienceandtechnology, omnidirectionalmobileplatform, track, centripetal

中图分类号:

张豫南，杨怀彬，黄涛，张舒阳，房远. 向心型履带式全方位移动平台运动分析[J]. 兵工学报, 2017, 38(12): 2309-2320.

ZHANG Yu-nan， YANG Huai-bin， HUANG Tao， ZHANG Shu-yang， FANG Yuan. Analysis about Motion of Centripetal Tracked Omnidirectional Mobile Platforms[J]. Acta Armamentarii, 2017, 38(12): 2309-2320.

参考文献

［1］张金玲, 陈浩, 张玄, 等. 一种智能物流车设计[J]. 机械工程师, 2016(7): 60-61.
ZHANG Jin-ling, CHEN Hao, ZHANG Xuan, et al. Design of an intelligent logistics car[J]. Mechanical Engineer, 2016(7): 60-61. (in Chinese)
[2] Peng T R, Qian J, Zi B, et al. Mechanical design and control system of an omni-directional mobile robot for material conveying[C]∥Proceedings of the 9th International Conference on Digital Enterprise Technology. Nanjing: Nanjing Uniersity of Aeronautics and Astronautics, 2016: 412-415.
[3] Ismael O Y, Hedley J. Development of an omnidirectional mobile robot using embedded color vision system for ball follow[J]. American Scientific Research Journal for Engineering, Technology, and Science, 2016, 22(1): 231-242.
[4] 梁延德, 于华龙, 何福本. 全方位小型足球机器人运动特性分析[J]. 组合机床与自动化加工技术, 2008(4): 5-8.
LIANG Yan-de, YU Hua-long, HE Fu-ben. Analysis on the kinematic performance of omnidirectional small size soccer robot[J]. Chinese Journal of Scientific and Technical Periodicals, 2008(4): 5-8. (in Chinese)
[5] Jiang S Y, Lin C Y, Huang K T, et al. Shared control design of a walking-assistant robot[J]. IEEE Transactions on Control Systems Technology, 2017, 99: 1-8.
[6] 吕永健, 丛新勇, 杨铭. 步进电机驱动的Mecanum轮全向装备运输车的设计[J]. 微特电机, 2013, 41(12): 14-16.
LYU Yong-jian, CONG Xin-yong, YANG Ming. Design of Mecanum wheeled omnidirectional equipped vehicle driven by stepper motor[J]. Small & Special Electrical Machines, 2013, 41(12): 14-16. (in Chinese)
[7] 叶长龙, 佟泽卉, 于苏洋，等. 全方位移动装配机器人运动学分析[J]. 机器人, 2016, 38(5): 550-556.
YE Chang-long, TONG Ze-hui, YU Su-yang, et al. Kinematic analysis of an omnidirectional mobile assembly robot[J]. Robot, 2016, 38(5): 550-556. (in Chinese)
[8] 刘勇. 狭小空间内的全向移动平台关键技术研究[D]. 镇江: 江苏科技大学, 2016.
LIU Yong. Research on omnidirectional mobile platform in narrow workspace[D]. Zhenjiang: Jiangsu University of Science and Technology, 2016.(in Chinese)
[9] 杨天旭. 全方位移动AGV智能控制技术研究[D]. 南京: 南京航空航天大学, 2016.
YANG Tian-xu. Intelligent control technology for the omnidirectional mobile AGV[D]. Nanjing: Nanjing University of Aeronautics and Astronautics, 2016. (in Chinese)

[10] 臧红彬, 许雄, 周颖玥,等. 具有全方位移动和越障功能的新型机器人的设计[J]. 机械传动, 2016, 40(6): 63-69.
ZANG Hong-bin, XU Xiong, ZHOU Ying-yue, et al. Design of a novel robot with omni-directional mobile and obstacle-crossing function [J]. Journal of Mechanical Transmission, 2016, 40(6): 63-69. (in Chinese)
[11] 田鹏. 8×8全方位移动平台运动性能仿真及控制研究[D]. 北京: 装甲兵工程学院, 2013.
TIAN Peng. Research on motion performance simulation and control of the 8×8 omnidirectional platform[D]. Beijing: Academy of Armored Force Engineering, 2013. (in Chinese)

[12] Masmoudi M S, Krichen N, Masmoudi M, et al. Fuzzy logic controllers design for omnidirectional mobile robot navigation[J]. Applied Soft Computing, 2016, 49: 901-919.
[13] 张豫南. 一种全方位移动履带及其平台:中国, CN203078622U[P]. 2013-07-24.
ZHANG Yu-nan. An omnidirectional mobile track and platform: China, CN203078622U[P]. 2013-07-24. (in Chinese)
[14] Zhang Y N, Huang T. Research on a tracked omnidirectional and cross-country vehicle[J]. Mechanism and Machine Theory, 2015,87: 18-44.
[15] 王一治, 常德功. Mecanum四轮全方位系统的运动性能分析及结构形式优选[J]. 机械工程学报, 2009, 45 (5)：307-310.
WANG Yi-zhi, CHANG De-gong. Motion performance analysis and layout selection for motion system with four Mecanum wheels[J]. Journal of Mechanical Engineering, 2009, 45(5)：307-310. (in Chinese)

第38卷第12期
2017 年12月兵工学报ACTA
ARMAMENTARIIVol.38No.12Dec.2017

[1]	张伟，刘辉，韩立金，刘宝帅，张勋，张万年. 混合动力履带车辆机电联合制动控制[J]. 兵工学报, 2022, 43(5): 969-981.
[2]	王博洋, 关海杰, 龚建伟, 陈慧岩, 赵卉菁. 面向异构履带车辆的统一运动规划方法[J]. 兵工学报, 2022, 43(2): 241-251.
[3]	徐保荣, 王涛, 梁梓. 基于操纵动作预测的履带车辆载荷谱编制方法与流程[J]. 兵工学报, 2022, 43(2): 252-259.
[4]	杜明刚，张金乐，张喜明，孙亚东，毛飞鸿. 履带装甲车辆空气阻力系数试验测定[J]. 兵工学报, 2021, 42(7): 1564-1568.
[5]	李睿，项昌乐，王超，范晶晶，刘春林. 自动驾驶履带车辆鲁棒自适应轨迹跟踪控制方法[J]. 兵工学报, 2021, 42(6): 1128-1137.
[6]	张杰，马晓军，刘春光，袁东，张运银. 双侧独立电驱动履带车辆反馈线性化解耦与预测行驶控制[J]. 兵工学报, 2021, 42(4): 697-705.
[7]	李春明, 吴维, 郭智蔷, 苑士华, 陈思. 履带车辆纵向与垂向耦合动力学模型及功率特性[J]. 兵工学报, 2021, 42(3): 449-458.
[8]	赵屹东, 陈慧岩, 胡家铭. 双侧独立电驱动履带车辆自动机械变速器线控换挡控制方法[J]. 兵工学报, 2021, 42(3): 459-467.
[9]	盖江涛，刘春生，马长军，沈宏继. 考虑履带滑转滑移的电驱动履带车辆转向控制[J]. 兵工学报, 2021, 42(10): 2092-2101.
[10]	邹渊，张彬，张旭东，赵志颖，康铁宇，郭玉枫，吴喆. 基于归一化优势函数的强化学习混合动力履带车辆能量管理[J]. 兵工学报, 2021, 42(10): 2159-2169.
[11]	马田，王志涛，张欣，庞大千，高晓宇. 履带车辆电传动系统减速机构热特性[J]. 兵工学报, 2021, 42(10): 2170-2179.
[12]	盖江涛，生辉，周广明，刘丽芳. 串联式混合动力履带车辆急加速工况功率平衡控制策略[J]. 兵工学报, 2021, 42(10): 2180-2188.
[13]	曾根，王伟达，盖江涛，马长军，李训明，李欢欢. 双侧电机耦合驱动履带车辆斜坡转向控制策略[J]. 兵工学报, 2021, 42(10): 2189-2195.
[14]	邹天刚，闫清东，盖江涛，侯威，王志涛，帅志斌，孙雪岩. 基于扁平电机的轻混式履带车辆综合传动方案[J]. 兵工学报, 2021, 42(10): 2233-2241.
[15]	赵子涵，穆希辉，杜峰坡. 橡胶履带柔性复合材料的本构模型[J]. 兵工学报, 2020, 41(9): 1719-1726.

向心型履带式全方位移动平台运动分析

Analysis about Motion of Centripetal Tracked Omnidirectional Mobile Platforms

PDF

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 15

编辑推荐

Metrics

本文评价