Research on kinematics of the mecanum-wheels platform at the first wheel axis deviation

Authors: Mordin A.E., Korovin O.S.
Published in issue: #6(83)/2023
DOI: 10.18698/2541-8009-2023-6-908
Category: Mechanics | Chapter: Mechanics of Deformable Solid Body
Keywords: kinematics, non-holonomic system, roller-carrying wheels, mecanum wheels, mobile platform, mathematical simulation, motion simulation, trajectory testing, wheel axis deviation
Published: 19.06.2023

The paper studies motion of the roller mecanum-wheels platform at the wheels axes deviation from their standard position. Kinematic ratios of interrelation between the platform’s own velocity and the roller wheels angular velocities were obtained. The platform motion was mathematically simulated. Graphs were constructed of the platform trajectories with one deviating wheel at such wheels’ angular velocities that set the platform simplest motion with standard arrangement of the wheels. The following types of the platform motion were considered: rectilinear motion forward, to the left, diagonal to the left and to the right, rotational motion on the site. Values of absolute and relative errors in the considered platform motion testing were assessed.

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