Modeling and motion analysis of four-Mecanum wheel omni-directional mobile platform

Abstract

Because of its comprehensive and flexible sporty performance, omni-directional mobile platform is widely used in industrial production, daily life as well as military fields. Disposed on four terminals of the vehicle body, each wheel's movement is controlled by an independent motor respectively. In this paper, we provide a structural analysis and motion resolving solution to the platform based on four separate Mecanum wheels. We then study the proper layouts that meet the conditions required for full-directional movements. Finally, we build the perspective mathematical model in its kinematics and dynamics terms.