Simulation, control and construction of a four Mecanum-wheeled robot

Abstract

This paper presents the process of simulation, control and construction of a four Mecanum-wheeled robot. Moreover, the kinematic model of the proposed robot is calculated to end of obtaining a better understanding about the robot's movement. In order to assess the effect of vibration on the motors' shafts of the robot and the hubs which are used as a connector between the shaft and the Mecanum wheel, the robot is simulated in MSC ADAMS. According to the obtained results from the proposed simulation, the material of the aforementioned hubs are considered as PTFE. Furthermore, in order to synchronize the robot's motors, a PID controller is designed for the robot. In order to estimate the performance of the designed PID controller for synchronizing the robot's motors, a co-simulation between MSC ADAMS and MATLAB software is done. The results which are obtained based on the proposed co-simulation prove the high performance of the designed controller in terms of the robot's motors synchronization. As well as the experimental results corroborate the acceptable performance of the designed PID controller in terms of robot's motors synchronization.