Modeling and motion analysis of four-Mecanum wheel omni-directional mobile platform

Because of its comprehensive and flexible sporty performance, omni-directional mobile platform is widely used in industrial production, daily life as well as military fields. Disposed on four terminals of the vehicle body, each wheel´s movement is controlled by an independent motor respectively. In this paper, we provide a structural analysis and motion resolving solution to the platform based on four separate Mecanum wheels. We then study the proper layouts that meet the conditions required for full-directional movements. Finally, we build the perspective mathematical model in its kinematics and dynamics terms.