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Эта публикация цитируется в 10 научных статьях (всего в 10 статьях)
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
Аннотация:
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).
Ключевые слова:
omniplatform, Mecanum platform, Mecanum wheel, youBot, omniwheel.
Поступила в редакцию: 15.08.2019 Принята в печать: 22.01.2020
Образец цитирования:
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
Образцы ссылок на эту страницу:
https://www.mathnet.ru/rus/nd711 https://www.mathnet.ru/rus/nd/v16/i2/p291
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