基于Mecanum轮的全方位移动平台设计及仿真分析.docxVIP

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网址：电邮：hrbengineer@163.com圆园20年第1期

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圆园20年第1期网址：电邮：hrbengineer@163.com

基于Mecanum轮的全方位移动平台设计及仿真分析

袁金田，李鹭扬

（扬州大学机械工程学院，江苏扬州225000）

摘要：基于

摘要：基于Mecanum轮的全方位移动平台可以实现零半径转向，具有工作时占地面积极小等特点。介绍了麦克纳姆轮的基本结构，为解决当前一体成型的Mecanum轮轮毂加工困难及成本高的问题，提出了一种新型的轮毂与辊子支撑架组合定位辊子轴的方式，建立了一种新型的全方位移动平台，拆装方便且有效地降低了制造成本。通过ADAMS软件，在理想空载与满载的情况下，完成对全方位移动平台的运动学建模及仿真分析。

关键词：Mecanum轮；轮毂；ADAMS；仿真

中图分类号:TP242 文献标志码:粤 文章编号：员园园圆原圆猿猿猿（圆园20）01原园051原园5

(CollegeofMechanicalEngineering,YangzhouUniversity,Yangzhou225000,