Topological Design Methods for Mecanum Wheel Configurations of an Omnidirectional Mobile Robot

Li, Yunwang; Dai, Sumei; Zhao, Liang; Yan, Xucong; Shi, Yong

doi:10.3390/sym11101268

Cited by 40 publications

(37 citation statements)

References 19 publications

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“…The kinematic constraints of the i-th Mecanum wheel of robot system O−XYZ consisting of n Mecanum wheels are shown in Figure 1 [40][41][42].…”

Section: Kinematic Constraint Model Of a Single Mecanum Wheelmentioning

confidence: 99%

“…The kinematic constraints of the i-th Mecanum wheel of robot system O XYZ − consisting of n Mecanum wheels are shown in Figure 1 [40][41][42]. In Figure 1, the Cartesian coordinate systems of the i-th Mecanum wheel and the roller of the wheel are O wi − X wi Y wi Z wi and P i − g i h i z i ; r w and r r are the radius of the wheel and the roller, respectively;…”

Section: Kinematic Constraint Model Of a Single Mecanum Wheelmentioning

confidence: 99%

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Kinematic Modeling of a Combined System of Multiple Mecanum-Wheeled Robots with Velocity Compensation

Dai

et al. 2019

Sensors

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In industry, combination configurations composed of multiple Mecanum-wheeled mobile robots are adopted to transport large-scale objects. In this paper, a kinematic model with velocity compensation of the combined mobile system is created, aimed to provide a theoretical kinematic basis for accurate motion control. Motion simulations of a single four-Mecanum-wheeled virtual robot prototype on RecurDyn and motion tests of a robot physical prototype are carried out, and the motions of a variety of combined mobile configurations are also simulated. Motion simulation and test results prove that the kinematic models of single-and multiple-robot combination systems are correct, and the inverse kinematic correction model with velocity compensation matrix is feasible. Through simulations or experiments, the velocity compensation coefficients of the robots can be measured and the velocity compensation matrix can be created. This modified inverse kinematic model can effectively reduce the errors of robot motion caused by wheel slippage and improve the motion accuracy of the mobile robot system.Sensors 2020, 20, 75 2 of 37 robot called MC-Drive, and the MC-Drive TP200 robot has been used to carry aircraft at Airbus manufacturing plants [13,14]. The KUKA omniMove UTV-2 set is a heavy-duty mobile platform with 12 Mecanum wheels that can be used to carry large objects [15]. (2) Using a combination of multiple Mecanum-wheeled robot platforms, which can be considered as a whole with cooperative omnidirectional motion and transport. Usually, mobile platforms used for cooperative transportation are symmetrically arranged. For example, a railcar body can be carried cooperatively by four KUKA omniMove mobile platforms at the Siemens plant in Krefeld, Germany [16]. The four mobile platforms are symmetrically arranged at four corners of the railcar body. Omni-directional mobile platforms with 8, 12, 16, or 32 Mecanum wheels can also be considered as specific combinations of multiple basic mobile platforms.The mature basic theory of four-Mecanum-wheeled robots is the basis of research on multi-robot systems. Muir [17][18][19] carried out basic research on Mecanum-wheeled robots and developed a kinematic and dynamic model and control on a four-Mecanum-wheeled robot. Campion et al. [20] studied structural properties and classification of kinematic and dynamic models of mobile wheeled robots and derived a motion constraint equation of a Mecanum wheel that can be used in kinematic research of multiple Mecanum-wheeled robots. Robots with four or more Mecanum wheels are overactuated systems with one or more motion constraints (wheel velocities are linearly correlated). Every additional wheel, and every additional robot, adds new motion constraints. So, the motion constraints of a multiple-Mecanum-wheeled robot system can be developed [21], which is also valid for multi-robot systems. The problem of transporting objects with a combined system is also a typical cooperative object transport problem in multi-robot systems, which is a growing rese...

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“…The kinematic constraints of the i-th Mecanum wheel of robot system O−XYZ consisting of n Mecanum wheels are shown in Figure 1 [40][41][42].…”

Section: Kinematic Constraint Model Of a Single Mecanum Wheelmentioning

confidence: 99%

Section: Kinematic Constraint Model Of a Single Mecanum Wheelmentioning

confidence: 99%

Kinematic Modeling of a Combined System of Multiple Mecanum-Wheeled Robots with Velocity Compensation

Dai

et al. 2019

Sensors

Self Cite

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“…It also sends control instructions to coordinate various parts of the robot to complete the tasks specified by the users. The motion control module includes motor drive module, four stepper motors and four omnidirectional wheels [27]. The motor drive module is implemented by a STM32.…”

Section: Robot Hardware Systemmentioning

confidence: 99%

“…The motion control module includes motor drive module, four stepper motors and four omnidirectional wheels [27]. The motor drive module is implemented by a STM32.…”

Section: Robot Hardware Systemmentioning

confidence: 99%

Designing a Supermarket Service Robot Based on Deep Convolutional Neural Networks

et al. 2020

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In order to save people’s shopping time and reduce labor cost of supermarket operations, this paper proposes to design a supermarket service robot based on deep convolutional neural networks (DCNNs). Firstly, according to the shopping environment and needs of supermarket, the hardware and software structure of supermarket service robot is designed. The robot uses a robot operating system (ROS) middleware on Raspberry PI as a control kernel to implement wireless communication with customers and staff. So as to move flexibly, the omnidirectional wheels symmetrically installed under the robot chassis are adopted for tracking. The robot uses an infrared detection module to detect whether there are commodities in the warehouse or shelves or not, thereby grasping and placing commodities accurately. Secondly, the recently-developed single shot multibox detector (SSD), as a typical DCNN model, is employed to detect and identify objects. Finally, in order to verify robot performance, a supermarket environment is designed to simulate real-world scenario for experiments. Experimental results show that the designed supermarket service robot can automatically complete the procurement and replenishment of commodities well and present promising performance on commodity detection and recognition tasks.

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“…Another essential matter with regard to determining the number of the special wheels is their distribution on the circumference of the OWMR and the extent of its relationship with mobility performance. With regard to OWMRs with the standard Mecanum wheels, it has been proven that the symmetrical rectangular configuration of four wheels is the optimal configuration [19]. However, three Mecanum wheels distributed evenly on the circular shape platform in order to balance the load could also be used with full mobility performance, as described in [20,21].…”

Section: Introductionmentioning

confidence: 99%

Modeling and Trajectory Planning Optimization for the Symmetrical Multiwheeled Omnidirectional Mobile Robot

Almasri

Uyguroğlu

2021

Symmetry

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Trajectory optimization is the series of actions that are taken into consideration in order to produce the best path such that it improves the overall performances of physical properties or reduces the consumption of the resources where the restriction system remains maintained. In this paper, first, a compact mathematical model for a symmetrical annular-shaped omnidirectional wheeled mobile robot (SAOWMR) is derived and verified. This general mathematical model provides an opportunity to conduct research, experiments, and comparisons on these omnidirectional mobile robots that have two, three, four, six, or even more omnidirectional wheels without the need to switch models or derive a new model. Then, a new computationally efficient method is proposed to achieve improvements in the trajectory planning optimization (TPO) for a SAOWMR. Moreover, the proposed method has been tested in collision-free navigation by incorporation of the path constraints. Numerical tests and simulations are presented aiming to ensure the efficiency and effectiveness of the proposed method.

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Topological Design Methods for Mecanum Wheel Configurations of an Omnidirectional Mobile Robot

Cited by 40 publications

References 19 publications

Kinematic Modeling of a Combined System of Multiple Mecanum-Wheeled Robots with Velocity Compensation

Kinematic Modeling of a Combined System of Multiple Mecanum-Wheeled Robots with Velocity Compensation

Designing a Supermarket Service Robot Based on Deep Convolutional Neural Networks

Modeling and Trajectory Planning Optimization for the Symmetrical Multiwheeled Omnidirectional Mobile Robot

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