Research on the Dynamics of an Omnidirectional Platform Taking into Account Real Design of Mecanum Wheels (as Exemplified by KUKA youBot)

Adamov, B. I.; Saypulaev, Gasan R.

doi:10.20537/nd200205

Cited by 12 publications

(6 citation statements)

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“…The design concept of the ETCW in Fig. 4 is similar to that of the Mecanum wheel, (33)(34)(35) which is arranged by the rollers around the wheel. The structure of the roller assembly (8) in Fig.…”

Section: Design Of Roller Assemblymentioning

confidence: 99%

“…(29)(30)(31)(32) Baishya et al collated and analyzed various existing types of step-climbing robot, such as the leggy type, track type, hybrid leggy-track type, and two-wheel and three-wheel cluster types, and provided a qualitative comparison of their advantages and disadvantages. (32) The four-wheeled robot equipped with Mecanum wheels, (33)(34)(35) driven by four independent servomotors, is capable of moving in any direction on a plane without requiring the prior rotational adjustment of the robot body. (36,37) This mechanism is widely utilized in industrial applications for WMRs.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Design and Analysis of a Novel Omnidirectional Step-climbing Robot

Wei,

Yang,

Chen

et al. 2024

Sensors and Materials

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Section: Design Of Roller Assemblymentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Design and Analysis of a Novel Omnidirectional Step-climbing Robot

Wei,

Yang,

Chen

et al. 2024

Sensors and Materials

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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%

“…A dynamical model of the mobile robot, called Kuka youBot, with four Mecanum wheels was considered in [22] for a linear model and for the model of Coulomb friction at the point of contact of the roller with the surface. Results were presented for modeling within the framework of these friction models.…”

Section: Introductionmentioning

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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“…For evaluating the controllers and for path-planning, the prescribed motions often consist of linear segments, circles or splines (for example, [15,20,28,29]). These trajectories are not inspired by the dynamics of the vehicle itself, but are based solely on the kinematics and the common sense.…”

Section: Introductionmentioning

confidence: 99%