Research on Motion Characteristic of Omnidirectional Robot based on Mecanum Wheel

摘要：

To analyse the problem of anisotropy of omnidirectional robot, kinematic and dynamic equations of Mecanum wheel system are derived according to its structure feature. Considering a typical layout, the influence made by tilted angles of rollers for longitudinal symmetry layout is analysed, rules of omnidirectional motion can be summarized. Dynamic models with longitudinal symmetry layout are built and simulative experiments are carried out, which provides the theory basis for Mecanum wheel omnidirectional robot.

关键词： Mecanum omnidirectional robot motion characteristic

作者: Zhang Yunan Wang Shuangshuang Zhang Jian Su Quan Gao Jianmin

作者单位: Department of control engineering.Academy of Armored Force Engineering, AAFE Beijing, China Unit 71375 Weifang, China

会议类型: 国际会议

会议名称: 2010 International Conference on Digital Manufacturing and Automation(2010 数字制造与自动化国际会议 ICDMA 2010)

会议地点: 长沙

会议语种:英文

页码: 237-241

在线出版日期: 2010-12-18（万方平台首次上网日期，不代表论文的发表时间）