全向移动平台的底盘和动力系统设计-车辆工程专业到毕业论文.docx

全向移动平台的底盘和动力系统设计Design 全向移动平台的底盘和动力系统设计 Design on Chassis and power system of omnidirectional mobile platform Abstract At present，with the development of automatic assembly line technology，the mobility perfornlarlce of intelligent launch vehicle platforms has great influence dimensions of operating space in vehicle factories or enterprises as well as the improvement of the productivity．Traditional mobile platforms have some certain disadvantages in mobility and operation precision for the workplaces with limited space，higher load bearing capacity and accuracy requirement．Taking the chassis and power system of the Omni-directional mobile system as the research object，this paper is based on kind of specific transport platform which serves aircraft engine assembly and delivery．Key technical problems and design methods are further discussed and analyzed in this thesis． Firstly，considering the actual project requirements，the chassis and the power system of aircraft engine transport assembly platform are designed based on the theory of omnidirectional mobile theory in this paper．Secondly，on this basis，the kinematics simulations are carried out on different working condlitions of the platform before and after barycenter deviation and the tests are completed by using the simplified real vehicle prototype． The combination of the simulation and testing result is used to analyze the running accuracy and the of deviation．Finally，according to the deviation of movement，the corresponding deviation control strategy is designed and the control effect of this method is tested by the combined simulation method ofⅣ【ATLAB and ADAMS software．The test results show that the design of omnidirectional motion platform has good mobile performance，the corresponding deviation control strategy could largely restrain the lateral and longitudinal motion deviation which was caused by the deviation of 10ading barycenter， and it has better potential for practical applications．The main resear