Abstract
The mechanics of a robot with Mecanum wheels is studied. A Mecanum wheel is a wheel with rollers attached to its circumference. Each roller rotates about an axis that forms an angle with the plane of the disk. In robotics, a simplified approach, in which the equations of non-holonomic kinematic constraints are solved approximately by means of a pseudo-inverse matrix, is frequently applied. Such an approximate approach leads to “holonomization” of the system and allows Lagrange’s equations of the second kind to be used. In the present paper, the equations of motion are obtained on the basis of the principles of non-holonomic mechanics. The optimal torques to be applied to the wheels and the respective voltages to be fed to the electric in order to provide a prescribed trajectory for the robot’s center of mass are defined. The theoretical results are compared with measured data obtained by experiments with a prototype.
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Acknowledgments
This study was supported by the Development Bank of Thuringia and the Thuringian Ministry of Economic Affairs with funds of the European Social Fund (ESF) under grant 2011 FGR 0127.
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© 2016 CISM International Centre for Mechanical Sciences
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Zimmermann, K., Zeidis, I., Schale, F., Flores-Alvarez, P.A. (2016). Mechanics of Mobile Robots with Mecanum Wheels. In: Parenti-Castelli, V., Schiehlen, W. (eds) ROMANSY 21 - Robot Design, Dynamics and Control. ROMANSY21 2016. CISM International Centre for Mechanical Sciences, vol 569. Springer, Cham. https://doi.org/10.1007/978-3-319-33714-2_12
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DOI: https://doi.org/10.1007/978-3-319-33714-2_12
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