- 學位論文
基於麥克納姆輪之懸吊設計及其路徑誤差之控制回饋
Path Error Control and Feedback of vehicle with Mecanum Wheel Suspension Design
摘要
麥克納姆輪的應用可以增加車輛全向移動的靈活性，同時減少工作空間需求，降低迴轉半徑的問題，因此也被廣泛運用在工業移動設備。市面上大多數的麥克納姆輪車輛多使用於具平坦路面的工廠來乘載貨物，故大部分設計都缺少懸吊系統。本研究所設計之車輛係利用麥克納姆輪之靈敏性來做為遊樂設施用來乘載顧客，並設計符合運動需求之車輛懸吊系統，在有限的遊樂場空間中，規劃一障礙路線，再依此障礙路線找出起點至終點的最短路徑。為確認其可行性，我們先利用軟體模擬其理想路徑，發現配置懸吊之麥克納姆輪遊戲車在行駛過程中，由於輪速變化、方向改變及懸吊系統的影響，造成實際路徑與理想路徑有所差異。因此我們進一步分析路線誤差，並利用運算及回饋進行路徑修正，使其與理想路徑吻合。
並列摘要
The application of the mecanum wheel can increase the flexibility of the vehicle's omnidirectional movement, reduce the demand for work space, and reduce the problem of the radius of gyration, so it is also widely used in industrial mobile equipment. Most of the mecanum wheeled vehicles on the market are mostly used in factories with flat roads to carry goods, so most designs lack suspension systems. The vehicle designed in this study uses the sensitivity of the mecanum wheel as an amusement facility to carry customers. This study intends to use the mecanum wheel to design a vehicle suspension system that meets the needs of sports, and in a limited playground in space, plan an obstacle route, and then find the shortest path from the starting point to the end point according to the obstacle route. In order to confirm its feasibility, we first used software to simulate its ideal path, and found that the mecanum wheel game car equipped with suspension is driving, due to the change of wheel speed, direction change and the influence of the suspension system, the actual path and the ideal path are different. There are differences. Therefore, we further analyze the route error, and use calculation and feedback to correct the route so that it matches the ideal route.