基于ADAMS的不同滚子材料麦克纳姆轮小车动力学性能分析

Dynamic Performance Analysis of a Mecanum-Wheeled Vehicle with Different Roller Materials Based on ADAMS

摘要: 本文面向不同滚子材质麦克纳姆轮小车的运动稳定性差异问题，采用ADAMS对四轮独立驱动麦克纳姆轮小车进行动力学仿真建模。对PU90A、PA66及橡胶三种滚子材料在钢制地面条件下的运动学响应分别开展小车直线运动和横向运动仿真，通过对比分析车辆速度响应、运动位移、轮地接触力及驱动转矩等动力学参数，研究滚子材料对麦克纳姆轮行驶性能的影响规律。结果表明，滚子材料不影响小车完成行驶功能，但由于材料摩擦特性、接触刚度及阻尼特性的差异，车辆动力学响应存在明显区别。其中，PU90A滚子在运动平稳性和轮地接触特性方面表现较为均衡，能够有效降低运行过程中的速度波动和接触冲击；PA66滚子具有较高的刚度，运动响应较快，但接触冲击较明显；橡胶滚子具有较好的附着能力，但较大的摩擦作用会增加驱动负荷。研究结果可为麦克纳姆轮移动平台的滚子材料选择及结构优化提供参考。

Abstract: To investigate the differences in motion stability of Mecanum-wheeled vehicles equipped with rollers made of different materials, a dynamic simulation model of a four-wheel independently driven Mecanum-wheeled vehicle was established using ADAMS. Straight-line and lateral motion simulations were conducted for three roller materials, namely PU90A polyurethane, PA66 nylon, and rubber, on a steel floor. By comparatively analyzing the vehicle velocity response, displacement, wheel-ground contact force, and driving torque, the influence of roller material on the driving performance of the Mecanum-wheeled vehicle was investigated. The results show that the roller material does not affect the vehicle’s ability to perform the required motion functions; however, obvious differences exist in the dynamic responses due to variations in friction characteristics, contact stiffness, and damping properties. Among the three materials, PU90A rollers exhibit relatively balanced performance in terms of motion stability and wheel-ground contact characteristics, effectively reducing velocity fluctuations and contact impacts during operation. PA66 rollers provide relatively high stiffness and rapid motion response, but generate more pronounced contact impacts. Rubber rollers offer good adhesion, whereas their relatively high friction increases the driving load. The results can provide a reference for roller material selection and structural optimization of Mecanum-wheeled mobile platforms.