Dynamics of omnidirectional unmanned rescue vehicle with mecanum wheels

Typiak, A.; Łopatka, Marian Janusz; Rykała, Łukasz; Kijek, Magdalena

doi:10.1063/1.5019120

Cited by 7 publications

(3 citation statements)

References 13 publications

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“…In recent years, mobile robots have been increasingly used in various applications of logistics and supply chain management [1][2][3] . Several examples have been demonstrated to optimize and improve industrial processes, drawing attention from both academy and industry [4][5][6] . Many companies are trying to speed up their production processes by applying just-in-time (JIT) strategies with the aim of increasing efficiency and reducing waste by receiving goods only as needed in the production process by reducing inventory costs 7 .…”

Section: Rocco Galati * Giacomo Mantriota and Giulio Reinamentioning

confidence: 99%

Adaptive heading correction for an industrial heavy-duty omnidirectional robot

Galati

Mantriota

Reina

2022

Sci Rep

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The paper deals with the design and testing of a robot for industrial applications featuring omnidirectionality thanks to the use of mecanum wheels. While this architecture provides remarkable manoeuvrability in narrow or cluttered spaces, it has some drawbacks that limit its widespread deployment in practice, especially for heavy-duty and long-duration tasks. As an example, the variability in the mecanum wheel rolling radius leads to undesired dynamic ill-effects, such as slippage and vibrations that affect the accuracy of pose estimation and tracking control systems. Drawing on the modeling of the kinematic and dynamic behaviour of the robot, these effects have been tackled within an adaptive estimation framework that adjusts the robot control system based on the properties of the surface being traversed. The proposed approach has been validated in experimental tests using a physical prototype operating in real industrial settings.

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Section: Rocco Galati * Giacomo Mantriota and Giulio Reinamentioning

confidence: 99%

Adaptive heading correction for an industrial heavy-duty omnidirectional robot

Galati

Mantriota

Reina

2022

Sci Rep

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“…Complete equations of motion of the OMR which take into account the control torques applied to the wheel axes are examined in detail in [12,26]. In a number of other papers, e. g., in [22,23] and [27][28][29][30], an analysis has been made of the dynamics of the motion of the OMR, but only for specific wheel modifications and their specific arrangements, in particular, taking into account the rotation of rollers. However, there has been no estimate of the reaction force with emphasis on ensuring the constraint (2.1) (no-slip constraint on the wheels).…”

Section: Equations Of Motion and The Constraint Reaction Forcesmentioning

confidence: 99%

Criteria of Motion Without Slipping for an Omnidirectional Mobile Robot

Mamaev¹,

Kilin²,

Karavaev³

et al. 2021

Nelin. Dinam.

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In this paper we present a study of the dynamics of a mobile robot with omnidirectional wheels taking into account the reaction forces acting from the plane. The dynamical equations are obtained in the form of Newton – Euler equations. In the course of the study, we formulate structural restrictions on the position and orientation of the omnidirectional wheels and their rollers taking into account the possibility of implementing the omnidirectional motion. We obtain the dependence of reaction forces acting on the wheel from the supporting surface on the parameters defining the trajectory of motion: linear and angular velocities and accelerations, and the curvature of the trajectory of motion. A striking feature of the system considered is that the results obtained can be formulated in terms of elementary geometry.

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“…In recent years, an interest in omnidirectional wheels for use in autonomous and remote-controlled robots has increased greatly. Due to specific kinematics, those types of wheels can provide high mobility and 3 degrees of freedom (DOF) for robots without steering axles (Typiak et al [1]). Nowadays, they are widely used in mobile industrial robots and robotic platforms (Hryniewicz et al [2], Guo et al [3]) but they also become used in other mobile robots such as obstacle avoiding robots (Huang et al [4]) and medical equipment (Park et al [5], Hsu et al [6]).…”

Section: Introductionmentioning

confidence: 99%

Evaluation of Velocity and Acceleration Effect on Mecanum Wheel Robot Positioning

Bączyk

Wojtowicz

Klekiel

2022

International Journal of Applied Mechanics and Engineering

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In this paper, a Mecanum wheel omnidirectional robotic platform made for taking measurements in harsh and dangerous conditions is introduced. Due to the necessity of highly accurate displacement of the platform for measuring the conditions at the exact measurement point and due to known Mecanum wheel slippage and relatively poor position accuracy, a calibration procedure for minimizing positioning error had to be implemented. For this task, a highly accurate stereographic digital image correlation (DIC) system was used to measure platform displacement. A series of parameters, namely linear maximum velocity and acceleration/deceleration values, were taken into account during the calibration procedure to find the best combination allowing precise movement of the robot. It was found that low acceleration values were the main causes of the robot’s poor positioning accuracy and could cause the robot’s motors to stall. Max speed values proved to have little effect on the robot’s positioning.

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Dynamics of omnidirectional unmanned rescue vehicle with mecanum wheels

Cited by 7 publications

References 13 publications

Adaptive heading correction for an industrial heavy-duty omnidirectional robot

Adaptive heading correction for an industrial heavy-duty omnidirectional robot

Criteria of Motion Without Slipping for an Omnidirectional Mobile Robot

Evaluation of Velocity and Acceleration Effect on Mecanum Wheel Robot Positioning

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