Movement Performance Analysis of Mecanum Wheeled Omnidirectional Mobile Robot

摘要

At present, omnidirectional mobile robot is widely used for its flexible movement. Omnidirectional movement realization can be divided into two forms: omnidirectional wheel with special structure and ordinary wheel with steering mechanism. The omnidirectional wheel has real-time performance and movement characteristics, but the movement accuracy and stability still need to be optimized. This paper takes Mecanum wheel, a typical omnidirectional wheel, as the research object. A geometric model is established for the optimal structural design of Mecanum wheel. The kinematics model and error model are established to analyze the influence of the movement accuracy and error of the robot from the number of rollers, roller coincidence degree, size of the robot, phase difference among the wheels and other parameters. The optimal design parameters of Mecanum wheeled omnidirectional mobile robot is proposed by using optimum design method. The movement precision of robot is obviously improved from the simulation result. This paper provides an optimization design method for other omnidirectional mobile robots with similar structures.