Ziqi Zhao, Anjun Hu, Lei Zhu, Fang Liu, and Max Q.-H. Meng
Reconfiguration and omnidirectional mobile, collinear Mecanum,motion control, kinematics, dynamics.
This paper presents the reconfigurable collinear Mecanum drive (RCMD) system, enabling wheeled robots to achieve simultaneous omnidirectional mobility and structural reconfiguration. A proto- type, the reconfigurable omnidirectional mobile robot (ROMR), is developed to validate the system. The RCMD system is analysed through kinematic and dynamic models, focusing on the additional angular velocity and torque generated by the asymmetry of the collinear Mecanum wheel structure. An anti-overturn stability model is also introduced to evaluate the impact of varying wheel spacing on the robot’s overall stability. A comprehensive control strategy is developed, integrating steering, distance, self-balancing, and motor control systems to ensure stable operation. Experimental validation across different wheel configurations confirms the accuracy of the kinematic and dynamic models, as well as the effectiveness of the control strategies. The results demonstrate the RCMD system’s capability to achieve reconfigurable, omnidirectional mobility while maintaining stability under external disturbances, making it suitable for applications requiring high adaptability in constrained environments.
Important Links:
Go Back
