Mecanum wheels

Mecanum wheels

Preliminaries

Published in Yongzhao Hua, Xiwang Dong, Ren Zhang, Formation Tracking Control for Heterogeneous Swarm Systems, 2022

Fig. 2.4 shows the structure diagram of a Mecanum wheel UGV. Let O−XY and OG−XGYG denote the inertial frame and the body frame, respectively. The control inputs of the UGV are the rotation speeds of four wheels, i.e., ωm1, ωm2, ωm3, and ωm4. The angle between the roll shaft and the axle of Mecanum wheel is denoted by α. Let vx and vy denote the velocities of mass centre along the OGXG -axis and OGYG -axis in the body frame, respectively. The yaw angle is denotes by θ. Define the angular velocity of UGV as ω. Then, we can use vx, vy, and ω to describe the three degrees of freedom movement for the UGV in the XY plane.

Mobile 3D Printing Techniques for Construction Engineering: Outdoor Navigation and Printing Quality Control

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Journal Information

Published in Structural Engineering International, 2022

Li-gang Qi, Jie Bai, Qing-long Huang, Yan Yang, Li-fang Han, Cheng-tao Yue, Zhong-Xiang Yan

As shown in Fig. 4, each Mecanum wheel can generate an axial friction force Fa along the roller axis and a normal friction force Fr along the normal direction of the roller axis. Combining these friction forces, the mobile construction robot realizes omnidirectional movement, such as transverse movement, forward movement, diagonal movement and rotation.

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Preliminaries

Mobile 3D Printing Techniques for Construction Engineering: Outdoor Navigation and Printing Quality Control