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
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;
Conference_Titel :
Electric Information and Control Engineering (ICEICE), 2011 International Conference on
Conference_Location :
Wuhan
Print_ISBN :
978-1-4244-8036-4
DOI :
10.1109/ICEICE.2011.5778168
