Research On Mecanum-Wheel Omnidirectional Robot Positional Accuracy

Mecanum wheels omnidirectional mobile mechanism is widely used in omnidirectional mobile solutions, and the stability of the mechanical structural design and excellent control performance make it a hot spot of the current robot research content.Firstly a widely used Mecanum wheels omnidirectional mobile mechanism kinematics model is built,on the basis of four wheels Mecanum mechanism and including the deflection angle and the distance between wheel and the center of mass.Two wheels structure,three wheels structure and four wheels structure are analyzed in the second chapter. At the same time, combination of four-wheels mechanism is researched and planed, and the optimal four Mecanum wheels robot model and four wheels fault models are also presented.In the study of positional accuracy, firstly the effects of the wheels structure and the mechanism equipment on the kinematics accuracy is analyzed, with the research and improvement of the assembly accuracy, transmission chain and the suspension system.Then the load distribution and the condition of the ground factors are modeled and analyzed. Finally the effect of the control system on positional accuracy is also analyzed.Mecanum wheel omnidirectional mobile control platform is designed and set in this experiment, and the control system combined PC and motion control card with CANbus communication, which improve the consistency and reliability of the omni-directional mobile mechanism. An optimal control scheme, the mix control between fast moving control mode with feedback and the position control with low-speed debug mode, is presented.Finally, with the experiments on the Mecanum wheel omnidirectional mobile platform, the factors affected the positional accuracy are analyzed and planned. The improved control scheme and the original control scheme are compared and analyzed, and the reliability of the improved scheme are validated.The result of the experiment has a certain application value.