Development of Omni-directional Mobile Robot Based on Mecanum Wheel

摘要

An omni-directional mobile robot based mecanum wheel is developed. Designing of wheel’s parameters and manufacture method is presented based on the research of the mechanism and principle. The problem that it’s difficult to fix the rollers is resolved from application consideration in this paper, in which a solution of the disturbance by ground's slight unsmooth is proposed. This robot can move towards all direction without body's turning, which can rotate a definite angle at its original position flexibly. The robot moves and rotates smartly without limits to the workspace, so a wide application future can be expected.