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Russian Journal of Nonlinear Dynamics, 2020, Volume 16, Number 2, Pages 291–307
DOI: https://doi.org/10.20537/nd200205
(Mi nd711)
 

This article is cited in 10 scientific papers (total in 10 papers)

Nonlinear physics and mechanics

Research on the Dynamics of an Omnidirectional Platform Taking into Account Real Design of Mecanum Wheels (as Exemplified by KUKA youBot)

B. I. Adamov, G. R. Saipulaev

National Research University “MPEI”, ul. Krasnokazarmennaya 14, Moscow, 111250 Russia
References:
Abstract: The subject of this study is an omnidirectional mobile platform equipped with four Mecanum wheels. The movement of the system on a horizontal plane is considered. The aim of this research is to study the dynamics of the omnidirectional platform, taking into account the design of Mecanum wheels: the shape of the rollers and their finite number. The equations of motion of the onmidirectional mobile platform are derived taking into account the real design of the Mecanum wheels and their slippage. A comparative analysis of the results of numerical modeling for different models of contact friction forces is presented. It has been established that switching of contact rollers and displacement of contact points lead to the occurrence of high-frequency components of wheel rotation speeds, as well as an offset of their average values (in comparison with the modeling results without taking into account the design features of the chassis).
Keywords: omniplatform, Mecanum platform, Mecanum wheel, youBot, omniwheel.
Received: 15.08.2019
Accepted: 22.01.2020
Bibliographic databases:
Document Type: Article
Language: English
Citation: B. I. Adamov, G. R. Saipulaev, “Research on the Dynamics of an Omnidirectional Platform Taking into Account Real Design of Mecanum Wheels (as Exemplified by KUKA youBot)”, Rus. J. Nonlin. Dyn., 16:2 (2020), 291–307
Citation in format AMSBIB
\Bibitem{AdaSai20}
\by B. I. Adamov, G. R. Saipulaev
\paper Research on the Dynamics of an Omnidirectional Platform Taking into Account Real Design of Mecanum Wheels (as Exemplified by KUKA youBot)
\jour Rus. J. Nonlin. Dyn.
\yr 2020
\vol 16
\issue 2
\pages 291--307
\mathnet{http://mi.mathnet.ru/nd711}
\crossref{https://doi.org/10.20537/nd200205}
\scopus{https://www.scopus.com/record/display.url?origin=inward&eid=2-s2.0-85093896421}
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  • This publication is cited in the following 10 articles:
    Citing articles in Google Scholar: Russian citations, English citations
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