Mecanum wheeled motion system with three wheels

Abstract

Omni-directional wheeled motion system with its flexible steering, stable structure and reliable control precision, become the basis of the mobile robot system which used indoor. In this paper two kinds of Omni-directions platform which wheeled by three Mecanum wheels are built up, by setting up the dynamical simulations about the two model based in simulation software, and according to the dynamic simulation analysis, we try to find the affections of the platform motion caused by the drive force on Mecanum wheels, and choose the better model. All of the work will also make the basis for the control theory which is needed by the next step.