Research on a new omnidirectional mobile platform with heavy loading and flexible motion:

摘要

This article presents an omnidirectional mobile platform with six mecanum wheels, which provide better carrying capacity than traditional four-wheel platform. Omnidirectional mobile platform with six mecanum wheels can withstand heavier load than the omnidirectional mobile platform with four mecanum wheels, which was used to transport large equipments used in marine and aerospace. Due to the small size, omnidirectional mobile platform with six mecanum wheels move more flexibly and reach desired position and pose easier in narrow workspace, compared with omnidirectional mobile platform with eight mecanum wheels whose disadvantage of large size offsets the advantage of zero turning radius. The kinematic model of the omnidirectional mobile platform with six mecanum wheel is established and verified through four kinds of motion state by the simulation (the omnidirectional mobile platform with six mecanum wheels moving along the Z axis, the X axis, the direction of which angle between positive X is 45°, and th...