Mechanics of Mobile Robots with Mecanum Wheels

Klaus Zimmermann, Igor Zeidis, Florian Schale, Pedro Alonso Flores-Alvarez

Producción científica: Capítulo del libro/informe/acta de congresoCapítulorevisión exhaustiva

4 Citas (Scopus)


The mechanics of a robot with Mecanum wheels is studied. A Mecanum wheel is a wheel with rollers attached to its circumference. Each roller rotates about an axis that forms an angle with the plane of the disk. In robotics, a simplified approach, in which the equations of non-holonomic kinematic constraints are solved approximately by means of a pseudo-inverse matrix, is frequently applied. Such an approximate approach leads to “holonomization” of the system and allows Lagrange’s equations of the second kind to be used. In the present paper, the equations of motion are obtained on the basis of the principles of non-holonomic mechanics. The optimal torques to be applied to the wheels and the respective voltages to be fed to the electric in order to provide a prescribed trajectory for the robot’s center of mass are defined. The theoretical results are compared with measured data obtained by experiments with a prototype.

Idioma originalInglés
Título de la publicación alojadaCISM International Centre for Mechanical Sciences, Courses and Lectures
EditorialSpringer International Publishing
Número de páginas9
EstadoPublicada - 2016
Publicado de forma externa

Serie de la publicación

NombreCISM International Centre for Mechanical Sciences, Courses and Lectures
ISSN (versión impresa)0254-1971
ISSN (versión digital)2309-3706


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