Geometry, kinematics and dynamics of the Mecanum wheel. Unstable motion of the Mecanum vehicle

Abstract

BACKGROUND: The Mecanum wheels enable the vehicle to move in any desired direction and increase its mobility when moving along a flat surface. When designing a vehicle, the design loads determine the required driving moments and, as a result, the characteristics of the drivetrain. Thus, determining the loads acting on the Mecanum wheels in stationery and transition events is the most relevant task related to the Mecanum wheel.

AIM: Determination of the traction characteristics of the Mecanum wheel drives, ensuring the given mobility of the vehicle.

METHODS: Simulation of motion of a vehicle with the Mecanum wheels is carried out in the multibody dynamics’ software package. The contact interaction of the Mecanum wheel and rollers with the surface is described on the basis of the rolling theory.

RESULTS: A simple descriptive method for building a roller profile is proposed. The velocities of the vehicle, wheels and rollers for various directions and modes of motion, are calculated. The driving torque required for motion at these velocities is presented.

CONCLUSION: The Mecanum vehicle model makes it possible to determine the kinematic and dynamic characteristics of motion along a flat support in any mode of motion.

Keywords

Mecanum / OMNI / Ilon wheel / omnidirectional motion / rolling / vehicle / contact interaction

References

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