基于 Mecanum 轮的全方位移动机构研究

摘要

Mecanum wheel is one of the typical omnidirectional mobile mechanism .This mechanism can be more maneuverable and flexible when moving , which proved to be an important choice in building up omnidirectional mobile robot platform .It analyzes the characteristics and advantages of Mecanum wheeled mechanism , and ex-pounds the movement principle according to the structure , summaries the research progress at home and abroad in modeling methods, motion control, simulations and experiments in recent years .Afterwards, it illustrates the application fields , indicates the limits and future trends of this mechanism .%Mecanum轮是一种典型的全方位移动机构，因其机动、灵活的性能，成为搭建全方位移动机器人平台的重要选择。分析了Mecanum轮的特点和优势，阐明了该机构的运动原理，对该机构在建模方法、运动控制方法以及仿真实验等方面的国内外研究进展进行了总结，并举例说明了其应用领域，最后指出了该机构的局限性和未来的研究重点。