Design and development of an autonomous omni-directional mobile robot with Mecanum wheels

Abstract

In this paper the authors are presenting an omni-directional mobile robot, developed for educational and research purposes. The omni-directional motion capabilities of the robot are due to its special Mecanum wheels. The paper provides general information about Mecanum omni-directional wheels, mechanical design aspects of the wheels and the robot and it also describes the kinematic and dynamic models of the robot and the control system.