Model and simulation of four-wheeled robot based on Mecanum wheel

Abstract

Based on Mecanum wheels and “[Formula: see text]”-shaped planetary wheels, we combine these two kinds of wheels’ respective motion principle with their advantages to design a new type of four-wheeled robot: install the Mecanum wheels at the end of “[Formula: see text]”-shaped planetary wheel group. The wheel designed based on Mecanum wheels and “[Formula: see text]”-shaped planetary wheel can adapt to the complex terrain such as stairs, steps, and at the same time it can achieve the rotation of the whole body in a limited space. This paper studies the adaptability of the four-wheeled robot to the stairs, analyzing and calculating the parameters of the four-wheeled robot and the stairs.