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
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;
Conference_Titel :
Mechanic Automation and Control Engineering (MACE), 2011 Second International Conference on
Conference_Location :
Hohhot
Print_ISBN :
978-1-4244-9436-1
DOI :
10.1109/MACE.2011.5988248
