Modeling and Kinematics Simulation of a Mecanum Wheel Platform in RecurDyn

Li, Yunwang; Dai, Sumei; Zheng, Yuwei; Tian, Feng; Yan, Xucong

doi:10.1155/2018/9373580

Cited by 31 publications

(13 citation statements)

References 9 publications

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“…Content may change prior to final publication. (12) where is the time cost between points P and F. As a result, when 2 ⁄ ≤ cos √2 ⁄ , the acceleration should be set as ̈= − sin √2 ⁄ to let the vehicle travel toward the centerline from the inner edge and then change to ̈= cos √2 ⁄ to let the vehicle converge with the centerline. This series of motions is defined as pattern A1.…”

Section: Travelling Trajectorymentioning

confidence: 99%

Analysis of Traveling Strategies for Driving Omni-Wheeled Vehicle Around a Corner

et al. 2020

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Vehicles equipped with omnidirectional wheels can move in any direction, which means that many driving strategies are available, even for a simple task like turning a corner. However, the characteristics of each driving strategy have not yet been explored to detect what kind of strategy is suitable for what path conditions for what reasons. This study aims to clarify and compare the phenomena that occur in the possible least-time driving strategies for an omni-wheeled vehicle while it turns a corner. Three traveling strategies are proposed according to the order of rotation and turning motion, for which the possible least-time patterns are presented. Simulations are conducted to analyze the advantages of each pattern and compare the three traveling strategies for various path and corner configurations. The results show that the strategy in which the vehicle rotates during or after turning motion costs the least time. When both the path width and corner angle are small, the vehicle should turn with a large radius to maintain a high velocity. In contrast, the vehicle should turn with a small radius when the corner angle is large, even if this requires deceleration.

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Section: Travelling Trajectorymentioning

confidence: 99%

Analysis of Traveling Strategies for Driving Omni-Wheeled Vehicle Around a Corner

et al. 2020

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“…The inverse kinematics equation [58,59] of the system is obtained by kinematics analysis, assuming that there is no slip between the roll and the ground and that the platform moves in the plane:Vω=bold-italicJ(α)·VO where, Vω=[ω1ω2ω3ω4]T are the speeds of the four wheels. VO=[vxvzωO]T are the velocities of the robot body in the world coordinate system.…”

Section: Simulation Based On Unity3dmentioning

confidence: 99%

Navigation Simulation of a Mecanum Wheel Mobile Robot Based on an Improved A* Algorithm in Unity3D

Dai

Shi

et al. 2019

Sensors

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Computer simulation is an effective means for the research of robot navigation algorithms. In order to implement real-time, three-dimensional, and visual navigation algorithm simulation, a method of algorithm simulation based on secondary development of Unity3D is proposed. With this method, a virtual robot prototype can be created quickly with the imported 3D robot model, virtual joints, and virtual sensors, and then the navigation simulation can be carried out using the virtual prototype with the algorithm script in the virtual environment. Firstly, the scripts of the virtual revolute joint, virtual LiDAR sensors, and terrain environment are written. Secondly, the A* algorithm is improved for navigation in unknown 3D space. Thirdly, taking the Mecanum wheel mobile robot as an example, the 3D robot model is imported into Unity3D, and the virtual joint, sensor, and navigation algorithm scripts are added to the model. Then, the navigation is simulated in static and dynamic environments using a virtual prototype. Finally, the navigation tests of the physical robot are carried out in the physical environment, and the test trajectory is compared with the simulation trajectory. The simulation and test results validate the algorithm simulation method based on the redevelopment of Unity3d, showing that it is feasible, efficient, and flexible.

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“…The mecanum wheel, a kind of omnidirectional wheel, is selected for the design of the walking mechanism. The reason is that a combination of three or more mecanum wheels can move in any direction on a flat surface [22]. The typical four-wheel longitudinal symmetrical layout structure is applied in the walking mechanism, as shown in Figure 3.…”

Section: Kinematics Analysis Of the Walking Mechanismmentioning

confidence: 99%

Analysis, Design, and Experimental Research of a Novel Wheelchair-Stretcher Assistive Robot

et al. 2019

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Featured Application: This novel robot could be applied in hospital, family and nursing home to help the elderly complete the basic daily activities and move patient autonomously.Abstract: Life care for disabled or semi-disabled elderly has become an increasingly common problem in society. In this paper, a novel wheelchair-stretcher assistive robot, which can meet the physiological needs of patients, is investigated and designed. The following tasks are conducted: (1) the mecanum wheel is adopted as the executive device of the walking mechanism, and its kinematics is analyzed in detail.(2) A five-link mechanism with single degree of freedom is proposed to realize the folding motion of the robot. Through the minimum conclusive area method, the optimal sizes of the armrests link and the side link are 507.9, and 332.5 mm, respectively. Based on the force analysis of the linkage mechanism, six torsion springs and RV (rotate vector) reduction motor are used as the driving device, which reduces the driving torque of the motor. (3) Based on the STM32 (STMicroelectronics 32-bits Microcontroller) chip, and combined with the theoretical analysis, the mechanical structure and the control system of the whole prototype are designed, and the feasibility of each module is verified by experimental research. The results confirm that the proposed robot has good performance, and that the control algorithm for the walking mechanism and the lifting mechanism are suitable.

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Modeling and Kinematics Simulation of a Mecanum Wheel Platform in RecurDyn

Cited by 31 publications

References 9 publications

Analysis of Traveling Strategies for Driving Omni-Wheeled Vehicle Around a Corner

Analysis of Traveling Strategies for Driving Omni-Wheeled Vehicle Around a Corner

Navigation Simulation of a Mecanum Wheel Mobile Robot Based on an Improved A* Algorithm in Unity3D

Analysis, Design, and Experimental Research of a Novel Wheelchair-Stretcher Assistive Robot

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