Design of omnidirectional mobile platform based on three Mecanum wheels

WANG Bin, MA Chao, WEN Bingquan

(Department of Military Logistics, Military Transportation University, Tianjin 300161, China)

Abstract: In order to achieve the purpose of precise control of the robot position within the limited space, the omnidirectional mobile platform with three Mecanum wheels was designed. After the analysis of roller geometric model, the parameter equation of roller contour surface and axial section curve equation was established. Based on roller parameter model, the relation equation between the velocity of omnidirectional mobile platform and the angular velocity of Mecanum wheel was established. A design method was presented to the control system of omnidirectional mobile platform. The prototype of the omnidirectional mobile platform with three Mecanum wheels was made and tested. Along three fixed concurrent lines meeting at 120° and rotation directions, positivenegative motion of platform was precisely realized. Compared with wheel moving mechanism, the platform was considered to be one of the best. The results indicate that the flexible platform can arrive at high precision position, adjust posture on the spot and move freely in a twodimensional surface.

Key words: Mecanum wheel; omnidirection mobility; moving robot