摘要：此论文为主要为机械电子工程专业毕业设计，目标为设计一个通过PLC进行控制的麦克纳姆轮来进行驱动的全向移动平台。近年来各物流公司AGV搬运车盛行，通过智能运输车来对物品进行调控运输成为了未来各式无人化工厂厂房的主流趋势。而我们此次设计的全向移动平台，将目标放得更远，以现代AGV小车为基础，平台目标则是能够承担未来所有工厂厂房的原料、零件、半成品、成品的搬运和输送工作。

为了达到在厂房各种条件下均能达到高速运输的目的，整体移动平台机械结构主要分为上下层两个部分。下层则是对麦克纳姆轮的驱动部分的设计和整体减震部分的设计。上层则主要是对PLC控制单元、电机驱动器、锂电池以及视觉体统的布局。在本文中主要对下层各部分设计进行讨论。

关键词：智能机器人；全向移动平台；麦克纳姆轮；半闭环控制。

PLC-controlled McNam wheel omnidirectional mobile platform design

Abstract: This dissertation is mainly for graduation design of mechanical and electrical engineering. The goal is to design an omnidirectional mobile platform driven by a Mcnam wheel controlled by PLC. In recent years, AGV trucks have been prevailing in various logistics companies. The regulation and transportation of goods through intelligent transport vehicles has become the mainstream trend of all types of unmanned chemical plant buildings in the future. The omni-directional mobile platform that we designed this time puts the target even further, based on the modern AGV trolley. The platform goal is to be able to undertake the handling and transportation of raw materials, parts, semi-finished products and finished products of all future factory buildings.

In order to achieve the purpose of achieving high-speed transportation under various conditions in the plant, the overall mobile platform mechanical structure is mainly pided into two parts: the upper and lower layers. The lower layer is the design of the drive section of the Mcnam wheel and the design of the overall shock absorption section. The upper layer is mainly the layout of the PLC control unit, motor drivers, lithium batteries, and vision systems. In this paper, the design of the lower part is mainly discussed.

Keywords: intelligent robot; omnidirectional mobile platform; McNaum wheel; semi-closed-loop control.

目录

1.绪论 1

1.1设计背景及意义 1

1.2国内外研究现状 2

1.2.1国内研究现状 2

1.2.2国外研究现状 3

2.麦克纳姆轮全向移动平台驱动部分计算 5

2.1麦克纳姆轮全向移动平台技术要求 5

2.2麦克纳姆轮的选择以及实际转速计算 5

2.2.1麦克纳姆轮的选择 5

2.3全向移动平台驱动系统结构设计 6

2.3.1驱动系统主体传动设计 6

2.3.2驱动系统电机选型与校核 7

3全向移动平台驱动系统减速器齿轮设计与校核 10

3.1减速器减速比及各轴功率计算 10

3.1.1减速比的确定 10

3.1.2传动比的分配 10

3.1.3各级传动效率计算 10

3.2减速器齿轮传动的设计计算 12

3.2.1高速级直齿圆柱齿轮传动的设计计算 12

3.2.1低速级直齿圆柱齿轮传动的设计计算 15

4.全向移动平台减速器设计与校核 18

4.1减速器主轴装置的设计与校核 18

4.1.1减速器轴的设计 18

4.1.2减速器轴的校核 20

4.2减速器轴承的设计 21

4.2.1高速轴的轴承选择与寿命校核 21

5麦克纳姆轮全向移动平台上层结构设计 24

5.1.1布局方案 24

5.1.2最终方案 24

6麦克纳姆轮全向移动平台控制系统设计 26

6.1麦克纳姆轮轮系布局 26

6.3全向移动平台控制方式 30

6.3.1内部速度控制方式 30

6.3.2外部速度控制方式 31

谢辞 33

参考文献 34

1.绪论