A DESCRIPTION OF THE DYNAMICS OF A FOUR-WHEEL MECANUM MOBILE SYSTEM AS A BASIS FOR A PLATFORM CONCEPT FOR SPECIAL PURPOSE VEHICLES FOR DISABLED PERSONS

摘要

A four wheeled Mecanum vehicle has been analyzed kinematically and dynamically in this paper, that to understand and to determine the influence of the vehicle parameters and model them analytically. The principle of the nonholonomic mechanics has been used to introduce an exact dynamic model. The major focus in the work, presented in this paper, is on the 4WD 100mm Mecanum Wheel robot kit 10011 - Nexus Robot. Also, a set of simple and complex motion trajectories have been presented. The simulation results for the analytical models of the four wheeled Mecanum vehicle are presented and discussed briefly. A future view on the modern research trend lines in the field of omnidirectional mobile robots, in the next few years, is presented at the end of the paper.