The Motion Analysis and Simulation of Omni-Directional Moving Mechanism with Four Mecanum Wheels

Abstract

Omni-directional mobile robot possesses three degree of freedom on the plane and has a good flexibility.It introduces some principle and structure of the Mecanum wheel,analyzes the movement coordinated principle of Omni-directional mobile mechanism with four Mecanum wheel,designs some important parameters of Mecanum wheels,and simulates the system motion based on ADAMS platform.