Research on Motion Characteristic of Omnidirectional Robot Based on Mecanum Wheel

To analyse the problem of anisotropy of omni directional 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 omni directional 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 omni directional robot.