Аннотация:
The subject of this study is an omnidirectional mobile platform equipped with four Mecanum wheels. The movement of the system on a horizontal plane is considered. The aim of this research is to study the dynamics of the omnidirectional platform, taking into account the design of Mecanum wheels: the shape of the rollers and their finite number. The equations of motion of the onmidirectional mobile platform are derived taking into account the real design of the Mecanum wheels and their slippage. A comparative analysis of the results of numerical modeling for different models of contact friction forces is presented. It has been established that switching of contact rollers and displacement of contact points lead to the occurrence of high-frequency components of wheel rotation speeds, as well as an offset of their average values (in comparison with the modeling results without taking into account the design features of the chassis).
Образец цитирования:
B. I. Adamov, G. R. Saipulaev, “Research on the Dynamics of an Omnidirectional Platform Taking into Account Real Design of Mecanum Wheels (as Exemplified by KUKA youBot)”, Rus. J. Nonlin. Dyn., 16:2 (2020), 291–307
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\by B. I. Adamov, G. R. Saipulaev
\paper Research on the Dynamics of an Omnidirectional Platform Taking into Account Real Design of Mecanum Wheels (as Exemplified by KUKA youBot)
\jour Rus. J. Nonlin. Dyn.
\yr 2020
\vol 16
\issue 2
\pages 291--307
\mathnet{http://mi.mathnet.ru/nd711}
\crossref{https://doi.org/10.20537/nd200205}
\scopus{https://www.scopus.com/record/display.url?origin=inward&eid=2-s2.0-85093896421}
Образцы ссылок на эту страницу:
https://www.mathnet.ru/rus/nd711
https://www.mathnet.ru/rus/nd/v16/i2/p291
Эта публикация цитируется в следующих 10 статьяx:
G. R. Saypulaev, B I. Adamov, “Study of the Influence of the Mecanum-Wheel Design and Contact Forces on the Control Accuracy of Mobile Robot-Manipulator KUKA YouBot”, Mehatronika, avtomatizaciâ, upravlenie, 25:3 (2024), 158
Alexey S. Dyakov, Dmitrii S. Fedorov, “GEOMETRY, KINEMATICS AND DYNAMICS OF THE MECANUM WHEEL. UNSTABLE ACCELERATED MOTION OF MECANUM VEHICLE”, Izvestiya MGTU MAMI, 2024
Nguyen Thi Thanh, Nguyen Thanh Long, Trinh Thi Khanh Ly, Nguyen Hong Thai, Hoang Thien, Lecture Notes in Networks and Systems, 943, Advances in Engineering Research and Application, 2024, 435
A. A. Kilin, Yu. L. Karavaev, V. A. Shestakov, “Motion of a Four-Wheeled Omnidirectional Mobile Robot without Slipping and Detachment from the Surface”, Mehatronika, avtomatizaciâ, upravlenie, 24:8 (2023), 403
József Kuti, Péter Galambos, 2023 IEEE 17th International Symposium on Applied Computational Intelligence and Informatics (SACI), 2023, 000605
Г. Р. Сайпулаев, Б. И. Адамов, А. И. Кобрин, “ОБ ОДНОЙ ДИНАМИЧЕСКИ СОГЛАСОВАННОЙ МОДЕЛИ НОРМАЛЬНЫХ РЕАКЦИЙ В ТОЧКАХ КОНТАКТА МОБИЛЬНОЙ ПЛАТФОРМЫ С ПОВЕРХНОСТЬЮ ПРИ УЧЕТЕ КОНСТРУКЦИИ МЕКАНУМ-КОЛЕС И ПОЛИКОМПОНЕНТНОГО ТРЕНИЯ”, Известия Российской академии наук. Механика твердого тела, 2023, № 5, 15
G. R. Saipulaev, B. I. Adamov, A. I. Kobrin, “A Dynamicly Consistent Model of Normal Reactions at Points of a Mobile Platform Contact with a Surface Taking Account of the Design of Mecanum Wheels and Multicomponent Friction”, Mech. Solids, 58:5 (2023), 1447
Goryacheva I.G., Zobova A.A., “Dynamics of Deformable Contacting Bodies With Sliding, Rolling, and Spinning”, Int. J. Mech. Sci., 216 (2022), 106981
Boris I. Adamov, Gasan R. Saypulaev, 2021 International Conference “Nonlinearity, Information and Robotics” (NIR), 2021, 1
Vyacheslav A. Shestakov, Ivan S. Mamaev, Yury L. Karavaev, 2021 International Conference “Nonlinearity, Information and Robotics” (NIR), 2021, 1
Цитирование в формате AMSBIB
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