QQ1074765680

Mecanum

QQ1074765680

 QQ1074765680

Mecanum

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 QQ1074765680

Abstract
With the development of robotics, robots have played an important part in our
production area. The omnidirectional wheeled mobile mechanism of all can move in
all direction without any rotation, and can rotate any angle at the original point
flexibly. Based on the international design method for mecanum wheel, some
parameters are discussed in the paper, and many key components are designed to
make into an omnidirectional mobile robot. Also its kinematical and dynamical model
is analyzed, and the control circuit is made out to correspond to the motion.
Experiments indicated that mecanum the omnidirectional wheeled mobile mechanism
moves and rotates smartly without limits to the space, so a widen application future
can be expected.

Keywords: omnidirectional wheel; mecanum wheel; mobile robot; omnidirectional

mobile robot

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 QQ1074765680

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Abstract II
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References
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360o
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02001433
2005-6-10

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References
1Patrick F.Muir and Charles P. Neuman. Kinematic Modeling For Feedback Control Of An
Omnidirectional wheeled Mobile Robot[J].Department of Electrical and Computer Engineering
The Robotics Institute Carnegie Mellon University Pittsburgh, PA 15213
2W.K.Loh, K.H.Low. Mechanical Design and Kinematic Modeling of a Singularityless OmniDirectional Wheeled Mobile Robot[J].School of Mechanical and Production Engineering Nanyang
Technological University. Y.P.Leow Singapore Institute of Manufacturing Technology.
3 Jae Heon Chung, Byung-Ju Yi, Whee Kuk Kim, Hogil Lee. The Dynamic Modeling and
Analysis for An Omnidirectional Mobile Robot with Three Caster Wheels. School of Electrical
Engineering and Computer Science, Hanyang University.
4Isik, Can. Meystel, M.Alexander.Pilot Level of A Hierarchical Controller for An Unmanned
Mobile Robot. IEEE Journal of Robotics&Automation, 1988,4(3): 241~255
5Nobuhiro Ushimi, Motoji Yamamolo and Akira Mohri Two Wheels Caster Type Odometer for
Omni-Directional Vehicles

Department of Intelligent Machinery and Systems Faculty of

Engineering, Kyushu University

6,.[J].,
2001-12
7.[J].,2001-07-01
8.[J]. 2000-12-01
9.[J].,2001-03-01
10.[M].2001
11.[M].1987-12
12.[M].2003-3
13[M] ., 1991-10
14[M] ., 1979-2
15R2.0

Matlab

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R=56;
b=73;
r=b/R;
t=0;
angle=0:0.001:r;
% AC p={p1,p2,p3};
p1=R*cos(angle)-R;
p2=R*sin(angle);
p3=R*angle;
% AB u={u1,u2,u3};
D=sqrt((2-2*cos(r)+r^2));
u1=(cos(r)-1)/D;
u2=sin(r)/D;
u3=r/D;
% p u t P={P1,P2,P3};
P1=(cos(t)+(u1^2)*(1-cos(t))).*p1+(u2*u1*(1-cos(t))-u3*sin(t)).*p2+(u3*u1*(1-cos(t))
+u2*sin(t)).*p3;
P2=(u2*u1*(1-cos(t))+u3*sin(t)).*p1+(cos(t)+(u2)^2*(1-cos(t))).*p2+(u3*u2*(1-cos(t))u1*sin(t)).*p3;
P3=(u3*u1*(1-cos(t))-u2*sin(t)).*p1+(u3*u2*(1-cos(t))-u1*sin(t)).*p2+(cos(t)+(u3^2)*(1cos(t))).*p3;
% high
high=R*(sqrt((2-2.*cos(angle)+angle.^2-((cos(angle-r)-cos(r)-cos(angle)+angle*r+1).^2)/(22*cos(r)+r^2))));
% x high
x=R*D/2-(R/D)*(cos(angle-r)-cos(angle)-cos(r)+angle*r+1);
plot(x,high);
grid on;
axis equal;
xlabel('x');
ylabel('high');

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