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2013
Impact Factor

    Boris Adamov

    ul. Krasnokazarmennaya 14, Moscow, 111250 Russia
    Moscow Power Engineering Institute

    Publications:

    Adamov B. I., Saypulaev G. R.
    Abstract
    The subject of this study is an omnidirectional mobile platform equipped with four Mecanum wheels. The movement of the system on a horizontal plane is considered. The aim of this research is to study the dynamics of the omnidirectional platform, taking into account the design of Mecanum wheels: the shape of the rollers and their finite number. The equations of motion of the onmidirectional mobile platform are derived taking into account the real design of the Mecanum wheels and their slippage. A comparative analysis of the results of numerical modeling for different models of contact friction forces is presented. It has been established that switching of contact rollers and displacement of contact points lead to the occurrence of high-frequency components of wheel rotation speeds, as well as an offset of their average values (in comparison with the modeling results without taking into account the design features of the chassis).
    Keywords: omniplatform, Mecanum platform, Mecanum wheel, youBot, omniwheel
    Citation: Adamov B. I., Saypulaev G. R.,  Research on the Dynamics of an Omnidirectional Platform Taking into Account Real Design of Mecanum Wheels (as Exemplified by KUKA youBot), Rus. J. Nonlin. Dyn., 2020, Vol. 16, no. 2, pp.  291-307
    DOI:10.20537/nd200205
    Adamov B. I.
    Abstract
    The object of the study is the mobile platform of the KUKA youBot robot equipped with four Mecanum wheels. The ideal conditions for the point contact of the wheels and the floor are considered. It is assumed that the rollers of each Mecanum wheel move without slipping and the center of the wheel, the center of the roller axis, and the point of contact of the roller with the floor are located on the same straight line. The dynamics of the system is described using Appel’s equations and taking into account the linear forces of viscous friction in the joints of the bodies. An algorithm for determination of the control forces is designed. Their structure is the same as that of the reactions of ideal constraints determined by the program motion of the point of the platform. The controlled dynamics of the system is studied using uniform circular motion of the platform point as an example: conditions for the existence and stability of steady rotations are found, conditions for the existence of stable-unstable stationary regimes and rotational motions of the platform are obtained. Within the framework of the theory of singular perturbations, an asymptotic analysis of the rotation of the platform is carried out.
    Keywords: omniwheel, Mecanum wheel, omnidirectional platform, servo-constraint, youBot, singular perturbation
    Citation: Adamov B. I.,  A Study of the Controlled Motion of a Four-wheeled Mecanum Platform, Rus. J. Nonlin. Dyn., 2018, Vol. 14, no. 2, pp.  265-290
    DOI:10.20537/nd180209

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