Modelling, simulation and experimental verification of a wheeled-locomotion system based on omnidirectional wheels

摘要

The following work focuses on the kinematic and dynamic study of a four-wheeled robot,which is equipped with omnidirectional Mecanum wheels. The main objective of thethesis is to obtain a mathematical model from which both the kinematics and kinetics ofthe robot can be analyzed. Furthermore, the study presents a methodology to optimizethe torques (and subsequent associated voltages) provided by each of the motors on therobot for a given trajectory.A system in which a non-powered trailer pulled by the robot is also analyzed at akinematic level. In this stage, four different cases are considered. The construction of thetrailer is also described on this work.In the first chapter, the global state of the art on analysis and control of omnidirectionalrobots (with focus on robots with Mecanum wheels) is presented. In the second chapter,the physical considerations for the general movement of the robot are analyzed, in orderto derive the kinematic constrain equations of the locomotion system. The differentialequation of motion is then derived using Lagrange-equations with multipliers. Thischapter presents as well the kinematic analysis for a robot-trailer system. The thirdchapter describes the general process on the design of the trailer, including the rejectedideas for its construction. The fourth chapter focuses on verifying the final results of thedesign process, as well as tests to check the mobility of the system. Conclusions andfuture work are analyzed on the final part of the document, as well as the references andthe acknowledgments to all the people involved in the project.