{"title":"全轮式移动机器人设计特点对无滑移运动可能性的影响","authors":"V. Shestakov, I. Mamaev, Y. Karavaev","doi":"10.1109/NIR52917.2021.9666137","DOIUrl":null,"url":null,"abstract":"In this paper, the object of study is a highly maneuverable mobile robot with omni wheels. The paper presents the investigation of the dynamics of omni wheels as part of a mobile platform. The design of a mobile platform with omni wheels is analyzed, taking into account the dynamics of an individual wheel as a part of a mobile platform. The equations of dynamics are presented in the form of Lagrange equations of the second kind with undetermined multipliers. As a result, several conditions of design constraints were identified, under which the omnidirectional motion of the mobile platform is impossible.","PeriodicalId":333109,"journal":{"name":"2021 International Conference \"Nonlinearity, Information and Robotics\" (NIR)","volume":"39 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2021-08-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Influence of the design features of omni-wheeled mobile robots on the possibility of motion without slipping\",\"authors\":\"V. Shestakov, I. Mamaev, Y. Karavaev\",\"doi\":\"10.1109/NIR52917.2021.9666137\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"In this paper, the object of study is a highly maneuverable mobile robot with omni wheels. The paper presents the investigation of the dynamics of omni wheels as part of a mobile platform. The design of a mobile platform with omni wheels is analyzed, taking into account the dynamics of an individual wheel as a part of a mobile platform. The equations of dynamics are presented in the form of Lagrange equations of the second kind with undetermined multipliers. As a result, several conditions of design constraints were identified, under which the omnidirectional motion of the mobile platform is impossible.\",\"PeriodicalId\":333109,\"journal\":{\"name\":\"2021 International Conference \\\"Nonlinearity, Information and Robotics\\\" (NIR)\",\"volume\":\"39 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2021-08-26\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2021 International Conference \\\"Nonlinearity, Information and Robotics\\\" (NIR)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/NIR52917.2021.9666137\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2021 International Conference \"Nonlinearity, Information and Robotics\" (NIR)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/NIR52917.2021.9666137","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Influence of the design features of omni-wheeled mobile robots on the possibility of motion without slipping
In this paper, the object of study is a highly maneuverable mobile robot with omni wheels. The paper presents the investigation of the dynamics of omni wheels as part of a mobile platform. The design of a mobile platform with omni wheels is analyzed, taking into account the dynamics of an individual wheel as a part of a mobile platform. The equations of dynamics are presented in the form of Lagrange equations of the second kind with undetermined multipliers. As a result, several conditions of design constraints were identified, under which the omnidirectional motion of the mobile platform is impossible.
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