DocumentCode
3290527
Title
Research on motion characteristic of omnidirectional device based on Mecanum wheel
Author
Yunan, Zhang ; Shuangshuang, Wang ; Jian, Zhang ; Jie, Song
Author_Institution
Dept. of Control Eng., Acad. of Armored Force Eng., Beijing, China
fYear
2011
fDate
15-17 April 2011
Firstpage
6094
Lastpage
6097
Abstract
Omnidirectional device has high maneuverability and wide application. Kinematic and dynamic equations of Mecanum wheel are derived according to its structure feature. The influence made by angles between wheel axes for centered layout is analysed, there is comparison between 3-wheeled and 4 w heeled layout for even centered layout. Rules of omnidirectional motion are summarized, which provides theoretical basis for motion control of omnidirectional device.
Keywords
motion control; wheels; Mecanum wheel; dynamic equations; kinematic equations; motion control; omnidirectional device; omnidirectional motion; wheel axes; Kinematics; Layout; Mobile communication; Mobile robots; Vehicles; Wheels; Mecanum wheel; motion characteristic; omnidirectional device;
fLanguage
English
Publisher
ieee
Conference_Titel
Electric Information and Control Engineering (ICEICE), 2011 International Conference on
Conference_Location
Wuhan
Print_ISBN
978-1-4244-8036-4
Type
conf
DOI
10.1109/ICEICE.2011.5778168
Filename
5778168
Link To Document