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Open AccessArticle

Topological Design Methods for Mecanum Wheel Configurations of an Omnidirectional Mobile Robot

1
School of Mechatronic Engineering, China University of Mining and Technology, Xuzhou 221116, China
2
Department of Mechanical Engineering, Stevens Institute of Technology, Hoboken, NJ 07030, USA
3
School of Mechanical and Electrical Engineering, Xuzhou University of Technology, Xuzhou 221018, China
*
Author to whom correspondence should be addressed.
Symmetry 2019, 11(10), 1268; https://doi.org/10.3390/sym11101268
Received: 20 August 2019 / Revised: 3 October 2019 / Accepted: 5 October 2019 / Published: 10 October 2019
(This article belongs to the Special Issue Symmetry in Engineering Sciences II)
A simple and efficient bottom-roller axle intersections approach for judging the omnidirectional mobility of the Mecanum wheel configuration is proposed and proved theoretically. Based on this approach, a sub-configuration judgment method is derived. Using these methods, on the basis of analyzing the possible configurations of three and four Mecanum wheels and existing Mecanum wheel configurations of robots in practical applications, the law determining wheel configuration is elucidated. Then, the topological design methods of the Mecanum wheel configurations are summarized and refined, including the basic configuration array method, multiple wheels replacement method, and combination method. The first two methods can be used to create suitable multiple-Mecanum-wheel configurations for a single mobile robot based on the basic Mecanum wheel configuration. Multiple single robots can be arranged by combination methods including end-to-end connection, side-by-side connection, symmetrical rectangular connection, and distributed combination, and then, the abundant combination configurations of robots can be obtained. Examples of Mecanum wheel configurations design based on a symmetrical four-Mecanum-wheel configuration and three centripetal configurations using these topological design methods are presented. This work can provide methods and a reference for Mecanum wheel configurations design. View Full-Text
Keywords: Mecanum wheeled robot; omnidirectional motion; wheel configuration; symmetrical configuration; topological design method Mecanum wheeled robot; omnidirectional motion; wheel configuration; symmetrical configuration; topological design method
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Li, Y.; Dai, S.; Zhao, L.; Yan, X.; Shi, Y. Topological Design Methods for Mecanum Wheel Configurations of an Omnidirectional Mobile Robot. Symmetry 2019, 11, 1268.

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