Modelling of dynamics of a wheeled mobile robot with mecanum wheels with the use of Lagrange equations of the second kind

• Autorzy: Hendzel Z. , Rykała Ł.

Identyfikatory

DOI

10.1515/ijame-2017-0005

• Języki publikacji: EN

Abstrakty

EN

The work presents the dynamic equations of motion of a wheeled mobile robot with mecanum wheels derived with the use of Lagrange equations of the second kind. Mecanum wheels are a new type of wheels used in wheeled mobile robots and they consist of freely rotating rollers attached to the circumference of the wheels. In order to derive dynamic equations of motion of a wheeled mobile robot, the kinetic energy of the system is determined, as well as the generalised forces affecting the system. The resulting mathematical model of a wheeled mobile robot was generated with the use of Maple V software. The results of a solution of inverse and forward problems of dynamics of the discussed object are also published.

Słowa kluczowe

EN

wheeled mobile robots; mecanum wheels; mathematical model

PL

robot mobilny; model matematyczny; dynamika obiektu

• Wydawca: Oficyna Wydawnicza Uniwersytetu Zielonogórskiego
• Czasopismo: International Journal of Applied Mechanics and Engineering
• Rocznik: 2017
• Tom: Vol. 22, no. 1
• Strony: 81--99
• Opis fizyczny: Bibliogr. 13 poz., rys., wykr.

Twórcy

autor

Hendzel Z.

• Department of Applied Mechanics and Robotics Faculty of Mechanical Engineering and Aeronautics Rzeszow University of Technology al. Powstańców Warszawy 12, 35-959 Rzeszów, POLAND

autor

Rykała Ł.

• Department of Applied Mechanics and Robotics Faculty of Mechanical Engineering and Aeronautics Rzeszow University of Technology al. Powstańców Warszawy 12, 35-959 Rzeszów, POLAND

Bibliografia

• [1] Abdelrahman M., Zeidis I., Bondarev O., Adamov B., Becker F. and Zimmermann K. (2014): 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. – 58-th Ilmenau Scientific Colloquium.
• [2] Becker F., Bondarev O., Zeidis I., Zimmermann K., Abdelrahman M. and Adamov B. (2014): An approach to the kinematics and dynamics of a four-wheeled mecanum vehicles. – Scientific Journal of IFToMM, ”Problems of Mechanics’’, special issue, vol.2, No.55, pp.27-37.
• [3] Lih-Chang L. and Hao-Yin S. (2013): Modeling and adaptive control of an omni-mecanum-wheeled robot. – Intelligent Control and Automation, vol.4, No.2, p.166.
• [4] Yunanm Z., Shuangshuang W., Jian Z., Quan S. and Jianmin G. (2010): Research on motion characteristic of omnidirectional robot based on mecanum wheel. – Digital Manufacturing and Automation, vol.2, pp.237-241.
• [5] Zimmermann K., Zeidis I. and Abdelrahman M. (2014): Chapter dynamics of mechanical systems with mecanum wheels. – In: Applied Non-Linear Dynamical Systems, pp.269-279, Springer International Publishing.
• [6] Hendzel Z. and Rykała Ł. (2015): Description of kinematics of a wheeled mobile robot with mecanum wheels. – Modelling in Engineering, vol.26, No.57, pp.5-12.
• [7] Hendzel Z. and Żylski W. (2012): General Mechanics: Dynamics. – Rzeszów University of Technology Publishing House, Rzeszów.
• [8] Tzafestas S.G. (2013): Introduction to mobile robot control. – Elsevier.
• [9] Żylski W. (1996): Kinematics and dynamics of wheeled mobile robots. – Rzeszów University of Technology Publishing House, Rzeszów.
• [10] Burghardt A. (2010): Modelling of dynamic mobile robot using a appell equation. – Acta Mechanica et Automatica, vol.4, No.1, pp.9-12.
• [11] Giergiel J.M., Hendzel Z. and Żylski W. (2002): Modeling and control of wheeled mobile robots. – Warsaw: PWN.
• [12] Trojnacki M. (2013): Modeling of dynamics of wheeled moile robots. – Warsaw: PIAP.
• [13] Wampfler G., Salecker M. and Wittenburg J. (1989): Kinematics, dynamics, and control of omnidirectional vehicles with mecanum wheels. – Mechanics Based Design of Structures and Machines, vol.17, No.2, pp.165-177.

Uwagi

PL

Opracowanie ze środków MNiSW w ramach umowy 812/P-DUN/2016 na działalność upowszechniającą naukę (zadania 2017)