Influence of Dissipative Forces and the Design of Mecanum-Wheels on the Omnidirectional Platform Dynamics

The object of research is an omnidirectional mobile platform equipped with four mecanum wheels. The movement of the system on a horizontal plane is considered. The aim of the research is to study the influence of the dissipative forces on the dynamics of the omnidirectional platform, taking into account the design of mecanum wheels: the shape of the rollers and their finite number. The equations of motion of the omnidirectional mobile platform are derived taking into account the real design of the mecanum wheels, their slippage, and the forces of multicomponent contact friction. A comparative analysis of the results of numerical modeling for various models of contact friction and different values of the parameters of dissipative forces is performed.