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2.4 Mecanum wheel kinematic analysis
4. Kinematic Analysis of Mecanum Wheel
4. Kinematic Analysis of Mecanum Wheel1. Installlation of Mecanum wheel on Omniduino Robot car2. Introduction of Mecanum wheel3. Mecanum Wheel Motion Analysis4. Motion analysis of the 4 Mecanum wheels:5. The installation position of the Mecanum wheel
1. Installlation of Mecanum wheel on Omniduino Robot car
The only correct Mecanum wheel installation on the trolley should be [ABBA].
2. Introduction of Mecanum wheel
The Mecanum wheel is composed of a hub and a roller that surrounds the hub. The roller is a non-powered driven small roller. The angle between the Mecanum wheel roller axis and the hub axis is 45°. The Mecanum wheel contains two rounds of A and B that are mirror images of each other.
3. Mecanum Wheel Motion Analysis
Mecanum wheel is divided into two types. When the A wheel moves forward, it also moves to the right, that is, obliquely to the right front. When the A wheel moves backwards, it also moves to the left, that is, obliquely to the left and rear. Similarly, the B wheel can be moved obliquely to the left front and the right rear.
In all the courses, we take the front of the car as the positive direction, and the direction in which the wheel advances is the forward rotation of the motor, and the direction in which the wheel retreats is the motor reversal.
For the A wheel, the roller does not provide the forward force due to rolling in the moving direction, and the roller cannot roll in the direction of the roller axis and rubs against the ground to generate friction in the axial direction of the roller, that is, obliquely to the right front or left rear direction, thus A The speed direction of the wheel is obliquely right front or left rear.
According to the physics knowledge, we can know that the direction of the car body movement depends on the speed direction of the four Mecanum wheels.
Then the A wheel can be decomposed into axially rightward and vertical axial forward velocity components, or axially leftward and vertical axially backwards.
About A wheel:
About B wheel:
4. Motion analysis of the 4 Mecanum wheels:
*Case 1--Forward/Back*
When all four wheels are turned forward, the A wheel and B wheel can cancel each other's axial speed, leaving only the forward speed, so that the car will advance. back are the same principle.
*Case 2--Right translation*
When the A wheel forward and the B wheel reverse, the forward and backward speeds will be offset, leaving only the speed to the right, then the car will translate to the right.
*Case 3--Left translation*
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