Modeling and Simulation of Omni-Directional Mobile Robot with Mecanum Wheel

摘要

In this paper, an omni-directional mobile robot with mecanum wheel was designed. Based on mathematical modeling theory and the virtual prototype software called Adams, the mathematical model of mobile robot was built and the kinetic characteristic was simulated. So we can ensure that the mobile robot with mecanum wheel has omni-directional movement characteristic. The reliability of the mathematical model has been verified through the comparision of the the mathematical calculation and simulation result. At the same time a new method was put forward to ensure all the mobile platform wheels can fully contact with the ground when running on the uneven road surface. Then the stability of the motion control system has also been improved.