Abstract
Omnidirectional mobile robots have been widely developed due to its high maneuverability in a narrow workspace. However, there are two main shortcomings: vibration and low load bearing capacity, always with the omnidirectional wheel. At present, no a unified method is absent to analyze the performance of omnidirectional wheels systematically. In this paper, a fission model is established to study the performance of omnidirectional wheels, based on its structural features. As a result, it is found that the key factors to influence the performance are the shape and installation of rollers through the study of degree of freedom (DOF), kinematics and dynamics of fission model. On this basis, a similar spherical omnidirectional wheel is designed and the simulation about the vibration and force of omnidirectional wheel is implemented verifying the performance of the new omnidirectional wheel.
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