Structure Design and Kinematics Analysis of Omni-Directional Mobile Platform

摘要

In order to achieve the advantages of the robot such as omni-directional movement in a limited space, precise positioning, position adjustment, and so on. The Mecanum omni-directional mobile platform is designed. Through the use of the contents of TRIZ technology innovation method, the functional structure of omnidirectional mobile robot is established. As this platform is used in petroleum, chemical and other hazardous environment inspection, the need for platform explosion-proof design; Then by analyzing the geometric model of Mecanum wheel roller, the roller parameter equation is established, and the finite element simulation analysis of the roller is carried out. Finally, using ADAMS software to simulate the omni-directional mobile robot, through the simulation results, the omni-directional motion of the robot is verified.