TY - GEN
T1 - Modeling and motion analysis of four-Mecanum wheel omni-directional mobile platform
AU - Jia, Yifan
AU - Song, Xiaodong
AU - Xu, Sendren Sheng Dong
PY - 2013
Y1 - 2013
N2 - Because of its comprehensive and flexible sporty performance, omni-directional mobile platform is widely used in industrial production, daily life as well as military fields. Disposed on four terminals of the vehicle body, each wheel's movement is controlled by an independent motor respectively. In this paper, we provide a structural analysis and motion resolving solution to the platform based on four separate Mecanum wheels. We then study the proper layouts that meet the conditions required for full-directional movements. Finally, we build the perspective mathematical model in its kinematics and dynamics terms.
AB - Because of its comprehensive and flexible sporty performance, omni-directional mobile platform is widely used in industrial production, daily life as well as military fields. Disposed on four terminals of the vehicle body, each wheel's movement is controlled by an independent motor respectively. In this paper, we provide a structural analysis and motion resolving solution to the platform based on four separate Mecanum wheels. We then study the proper layouts that meet the conditions required for full-directional movements. Finally, we build the perspective mathematical model in its kinematics and dynamics terms.
UR - http://www.scopus.com/inward/record.url?scp=84897725472&partnerID=8YFLogxK
U2 - 10.1109/CACS.2013.6734155
DO - 10.1109/CACS.2013.6734155
M3 - Conference contribution
AN - SCOPUS:84897725472
SN - 9781479923847
T3 - 2013 CACS International Automatic Control Conference, CACS 2013 - Conference Digest
SP - 328
EP - 333
BT - 2013 CACS International Automatic Control Conference, CACS 2013 - Conference Digest
T2 - 2013 CACS International Automatic Control Conference, CACS 2013
Y2 - 2 December 2013 through 4 December 2013
ER -