An omnidirectional mobile operating robot based on mecanum wheel

摘要

Omnidirectional mobile operating robot not only expands the working space of manipulator, but also enhances the function of the omnidirectional vehicle. So, it has wide application prospect. This paper analyses the omnidirectional movement principle of Mecanum wheel, designs an omnidirectional moving vehicle based on Mecanum wheel, and establishes its motion control rules. A manipulator with six degrees of freedom is designed and its kinematic model is established. Simulation platform of omnidirectional mobile operating robot is developed, and the motion trajectory to cover the maximum moment and speed of joints as much as possible is designed. Simulation results show that the movement of omnidirectional vehicle is steady and the vertical fluctuation is small. The predetermined trajectory of manipulator is achieved, the movement of joints is smooth, and the force and energy consumption of each joint are reasonable, which verifies the feasibility of the omnidirectional mobile operating robot.