A0装配图
基于麦克纳姆轮全方位机器人移动底盘的设计
Based on Mecanum wheel omni -directional robot mobile chassis design
摘要
基于Mecanum轮的全方位移动底盘具有较好的移动性能,并且可以在任何方向上进行移动，且无需底盘进行旋转运动。所以它的应用场合有很多，比如在狭小的空间环境和物流运输中运用。本次设计了一种可行的Mecanum轮设计方案,基于此，自主设计和开发了基于Mecanum轮的全方位移动底盘。本次共分为5章。包括概论、移动底盘的总体结构、螺纹连接、部分结构和轴，滚动轴承。概论主要分析了国内外机器人的发展状况，发展的趋势和本设计的内容与意义。移动底盘总体结构主要从零件设计要求，Mecanum轮的设计和材料的选择以及辊子刚度校核来叙述。螺纹连接的内容包括螺纹连接的基本类型，螺栓的选取和螺栓连接强度的计算。结构设计内容包括满足系统驱动性能的结构条件，Mecanum轮布局形式的选择和移动底盘电机的计算和选择。轴和滚动轴承包括轴的直径和长度的确定，轴的校核和滚动轴承使用寿命的校核。
关键词：Mecanum轮；全方位；移动底盘
Abstract
The omni-directional mobile chassis based on the Mecanum wheel has good mobility and can be moved in any direction without requiring a chassis for rotational movement. Therefore, there are many applications for it, such as the use of small space environment and logistics transportation. This paper designed a feasible Mecanum wheel design. Based on this, we independently designed and developed an all-round mobile chassis based on Mecanum wheels. This paper is divided into 5 chapters. Including the overview, the overall structure of the mobile chassis, threaded connections, parts of the structure and shaft, rolling bearings. The introduction mainly analyzes the development status of robots at home and abroad, the development trend and the content and significance of the design of this thesis. The overall structure of the mobile chassis is mainly described in terms of part design requirements, the design of the Mecanum wheel, the selection of materials, and the checking of the roll stiffness. The thread connection consists of the basic type of threaded connection, the selection of bolts and the calculation of the strength of the bolt connection. Structural design content includes structural conditions that satisfy the system's drive performance, selection of Mecanum wheel layouts, and calculation and selection of mobile chassis motors. Axis and rolling bearings include the determination of the diameter and length of the shaft, the check of the shaft and the checking of the service life of the rolling bearing.
Keywords：mecanum wheel omni-direction mobile chassis
目录
摘要I
Abstract II
1概论1
1.1国内外移动机器人的发展状况1
1.2 Mecanum轮的现状2
1.3全方位移动机器人的发展趋势2
1.4课题设计的内容与意义3
2全方位移动底盘的原理及其总体设计4
2.1零件设计的主要要求4
2.2全方位轮式移动机构的设计5
2.2.1设计移动机器人主体时应遵循以下设计原则： 5
2.3轮式移动底盘的总体结构图6
2.4 Mecanum轮的关键技术7
2.4.1 Mecanum轮的介绍7
2.4.2 Mecanum轮的设计研究7
2.4.3 Mecanum轮的材料要求9
2.4.4辊子校核9
3螺纹连接12
3.1螺纹连接的基本类型12
3.1.1螺栓连接12
3.1.2双头螺柱连接13
3.2螺栓的选取13
3.3螺栓连接强度计算13
4结构设计15
4.1满足系统驱动性能的结构条件15
4.2麦克纳姆轮布局结构形式选择15
4.3 Mecanum移动底盘的电机的计算与选择17
第五章轴和滚动轴承19
5.1轴直径和长度的确定19
5.2轴的校核19
5.3当量弯矩20
5.4轴强度校核20
5.5滚动轴承概述22
5.6滚动轴承的选择22
5.7轴承的校核22
5.8校核轴承的使用寿命23
结论24
致谢25
参考文献26
字数统计
设计所包含文件
A2底盘
A3电机套
A3滚子
A3支架
螺钉
A1法轮盘
A3滚子和支架
