DocumentCode
2815864
Title
Research on steering motion of omnidirectional platform based on Mecanum wheel
Author
Wang, Shuangshuang ; Zhang, Yunan ; Nie, Bin ; Xia, Yi
Author_Institution
Dept. of Control Eng., Acad. of Armored Force Eng., Beijing, China
fYear
2011
fDate
15-17 July 2011
Firstpage
5177
Lastpage
5180
Abstract
There are 3 planar DOF of omnidirectional motion device. The kinematic model is analysed according to the construction of Mecanum wheel in this paper, generalized inverse motion equation of steering is derived. Then virtual prototyping model is built by dynamic software RecurDyn, several typical steering motion is simulated and validated, which settles the basis of further research on motion control of this platform.
Keywords
mechanical engineering computing; motion control; steering systems; vehicle dynamics; virtual prototyping; wheels; 3 planar DOF; RecurDyn; generalized inverse motion equation; kinematic model; mecanum wheel; motion control; omnidirectional motion device; omnidirectional platform; steering motion; virtual prototyping model; Mathematical model; Mobile communication; Mobile robots; Motion control; Vehicles; Wheels; Mecanum wheel; omnidirectional platform; steering motion;
fLanguage
English
Publisher
ieee
Conference_Titel
Mechanic Automation and Control Engineering (MACE), 2011 Second International Conference on
Conference_Location
Hohhot
Print_ISBN
978-1-4244-9436-1
Type
conf
DOI
10.1109/MACE.2011.5988248
Filename
5988248
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