Design of omni directional movement platform with Mecanum wheel
                                                                  ZHANG Wei bin, TANG Wei
              (School of Mechanical Engineering, Jiangsu University of Science and Technology, Zhenjiang 212003, China)

Abstract: Aiming at the traditional mobile platform can not meet the problem of working in a narrow space, based on the analysis of structure and work principle of the Mecanum wheel，the kinematics model of the omni  directional movement platform was established, and its embedded control system was designed based on STM32 and fuzzy self turning PID algorithm.Software in host computer was programmed by VB.NET，which controlsthe platform movement via Bluetooth wireless communication and fuzzy self turning PID control algorithm to build a closed loop control. The whole motion performance of the mobile platform was tested by several typical experiments with the use of rangefinder sensor.The results indicate that the kinematics model of the omnidirectional movement platform is reasonable，the control system runs stably, the prototype can implement arbitrary directional movement in the plane，the fuzzy self turning PID control algorithm has high control precision and a good realtime performance that can meet the requirements in the practical engineering applications.

Key words: Mecanum wheel; omnidirectional movement platform; kinematics analysis; fuzzy PID self turning algorithm