Abstract
This article presents an omnidirectional mobile platform with six mecanum wheels, which provide better carrying capacity than traditional four-wheel platform. Omnidirectional mobile platform with six mecanum wheels can withstand heavier load than the omnidirectional mobile platform with four mecanum wheels, which was used to transport large equipments used in marine and aerospace. Due to the small size, omnidirectional mobile platform with six mecanum wheels move more flexibly and reach desired position and pose easier in narrow workspace, compared with omnidirectional mobile platform with eight mecanum wheels whose disadvantage of large size offsets the advantage of zero turning radius. The kinematic model of the omnidirectional mobile platform with six mecanum wheel is established and verified through four kinds of motion state by the simulation (the omnidirectional mobile platform with six mecanum wheels moving along the Z axis, the X axis, the direction of which angle between positive X is 45°, and the omnidirectional mobile platform with six mecanum wheels rotating around the geometric center). The states of one wheel in failure have been analyzed in this article, taking into account the research levels of omnidirectional mobile platform with six mecanum wheels in the presence. The motion features of the platform with six mecanum wheels and four mecanum wheels are analyzed when certain wheels are locked-up or followed-up based on the force analysis of the wheels, and it proves that the platform with six mecanum wheels moves more stable than the platform with four mecanum wheels. In the presence of wheel failure, the platform still can move to the target location with gesture, due to its redundancy. This study contributes to the research of omnidirectional mobile platform with normal or failure mecanum wheels.
Highlights
Autonomous mobile platforms were rapidly developing in last 50 years
Kinematics simulation of the omnidirectional mobile platform with six mecanum wheels (ODMSMWs) moving along the Z axis, given every mecanum wheel, is 180°/s
De Sousa Junior and Hermerly[25] proposed a novel tracking control approach for realtime navigation of a nonholonomic mobile robot; Yuan et al.[26] designed a controller about mobile robots based on neural net algorithm; Watanabe et al.[27] proposed a fuzzy servo system that is described for a system with noises using a stochastic fuzzy control method with some linear dynamic models; Das and Kar[28] proposed a control structure that makes possible the integration of a kinematic controller and an adaptive fuzzy controller for trajectory tracking, which is developed for nonholonomic mobile robots
Summary
Autonomous mobile platforms were rapidly developing in last 50 years. It can be categorized into three types: vehicles equipped with wheels similar to the generic automobile type, vehicles with two parallel wheels and one caster wheel (unicycle-type), and vehicles with mecanum wheels.[1,2,3] The omnidirectional mobile platforms have three freedoms (forward/backward, left/ right, and turning on the spot) and can move along any direction without changing position. Keywords Omnidirectional mobile, six mecanum wheels platform, kinematics modeling, fault tolerance control, simulation
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