Abstract
The four-wheeled Mecanum robot is widely used in various industries due to its maneuverability and strong load capacity, which is suitable for performing precise transportation tasks in a narrow environment. While the Mecanum wheel robot has mobility, it also consumes more energy than ordinary robots. The power consumed by the Mecanum wheel mobile robot varies enormously depending on their operating regimes and environments. Therefore, only knowing the working environment of the robot and the accurate power consumption model can we accurately predict the power consumption of the robot. In order to increase the applicable scenarios of energy consumption modeling for Mecanum wheel robots and improve the accuracy of energy consumption modeling, this paper focuses on various factors that affect the energy consumption of the Mecanum wheel robot, such as motor temperature, terrain, the center of gravity position, etc. The model is derived from the kinematic and kinetic model combined with electrical engineering and energy flow principles. The model has been simulated in MATLAB and experimentally validated with the four-wheeled Mecanum robot platform in our lab. Experimental results show that the accuracy of the model reached 95%. The results of energy consumption modeling can help robots save energy by helping them to perform rational path planning and task planning.
Highlights
The Mecanum wheel is the most common omnidirectional wheel structure used in practical applications
We mainly study the power consumption modeling of the Mecanum wheel robot in upslope and downslope environments
In order to improve the accuracy of robot modeling in complex environments, we divide the power consumption of robots into three major systems, namely motion system, control system, and sensing system—modeling and analyzing the energy consumption of these three systems separately
Summary
The Mecanum wheel is the most common omnidirectional wheel structure used in practical applications. Mecanum wheel robots have the advantage when it comes to stability, high load capacity, simple structure, and flexible movement. The energy modeling of Mecanum wheel mobile robots in complex environments has not been given enough attention. A separate analysis of the effects of various factors on power consumption is presented, and a power consumption model in a complex environment of Mecanum wheel robots is proposed. Mecanum wheel robots and ordinary wheeled robots due to their special structure is emto the previous study, we divided the energy consumption of the Mecanum wheel robot phasized. The main objective of the study is to increase the applicability of the Mecanum wheel robot modeling as well as to improve the accuracy of the modeling to help the Mecanum wheel robot predict its energy consumption more accurately. The modeling results can help the robot find the path with the lowest energy consumption during path planning and reduce the robot’s energy consumption, as well as help the robot predict the energy required for the task and perform reasonable task planning
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