An omnidirectional mobile operating robot based on mecanum wheel

Yiqun Liu; Hao Li; Liang Ding; Leilei Liu; Tao Liu; Jianfeng Wang; Haibo Gao

doi:10.1109/ICARM.2017.8273208

An omnidirectional mobile operating robot based on mecanum wheel

Yiqun Liu
, Hao Li
, Liang Ding^*
, Leilei Liu
, Tao Liu
, Jianfeng Wang
, Haibo Gao

^*Corresponding author for this work

Automotive Engineering College
Harbin Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

13 Scopus citations

Abstract

Omnidirectional mobile operating robot not only expands the working space of manipulator, but also enhances the function of the omnidirectional vehicle. So, it has wide application prospect. This paper analyses the omnidirectional movement principle of Mecanum wheel, designs an omnidirectional moving vehicle based on Mecanum wheel, and establishes its motion control rules. A manipulator with six degrees of freedom is designed and its kinematic model is established. Simulation platform of omnidirectional mobile operating robot is developed, and the motion trajectory to cover the maximum moment and speed of joints as much as possible is designed. Simulation results show that the movement of omnidirectional vehicle is steady and the vertical fluctuation is small. The predetermined trajectory of manipulator is achieved, the movement of joints is smooth, and the force and energy consumption of each joint are reasonable, which verifies the feasibility of the omnidirectional mobile operating robot.

Original language	English
Title of host publication	2017 2nd International Conference on Advanced Robotics and Mechatronics, ICARM 2017
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	468-473
Number of pages	6
ISBN (Electronic)	9781538632604
DOIs	https://doi.org/10.1109/ICARM.2017.8273208
State	Published - 2 Jul 2017
Event	2nd International Conference on Advanced Robotics and Mechatronics, ICARM 2017 - Hefei and Tai'an, China Duration: 27 Aug 2017 → 31 Aug 2017

Publication series

Name	2017 2nd International Conference on Advanced Robotics and Mechatronics, ICARM 2017
Volume	2018-January

Conference

Conference	2nd International Conference on Advanced Robotics and Mechatronics, ICARM 2017
Country/Territory	China
City	Hefei and Tai'an
Period	27/08/17 → 31/08/17

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 7 Affordable and Clean Energy

Keywords

Manipulator
Mecanum Wheel
Mobile Operation
Omnidirectional Vehicle
Performance Simulation

Access to Document

10.1109/ICARM.2017.8273208

Cite this

Liu, Y., Li, H., Ding, L., Liu, L., Liu, T., Wang, J., & Gao, H. (2017). An omnidirectional mobile operating robot based on mecanum wheel. In 2017 2nd International Conference on Advanced Robotics and Mechatronics, ICARM 2017 (pp. 468-473). (2017 2nd International Conference on Advanced Robotics and Mechatronics, ICARM 2017; Vol. 2018-January). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICARM.2017.8273208

@inproceedings{916e77de04d04cc29ef7305dc4a31f60,

title = "An omnidirectional mobile operating robot based on mecanum wheel",

abstract = "Omnidirectional mobile operating robot not only expands the working space of manipulator, but also enhances the function of the omnidirectional vehicle. So, it has wide application prospect. This paper analyses the omnidirectional movement principle of Mecanum wheel, designs an omnidirectional moving vehicle based on Mecanum wheel, and establishes its motion control rules. A manipulator with six degrees of freedom is designed and its kinematic model is established. Simulation platform of omnidirectional mobile operating robot is developed, and the motion trajectory to cover the maximum moment and speed of joints as much as possible is designed. Simulation results show that the movement of omnidirectional vehicle is steady and the vertical fluctuation is small. The predetermined trajectory of manipulator is achieved, the movement of joints is smooth, and the force and energy consumption of each joint are reasonable, which verifies the feasibility of the omnidirectional mobile operating robot.",

keywords = "Manipulator, Mecanum Wheel, Mobile Operation, Omnidirectional Vehicle, Performance Simulation",

author = "Yiqun Liu and Hao Li and Liang Ding and Leilei Liu and Tao Liu and Jianfeng Wang and Haibo Gao",

note = "Publisher Copyright: {\textcopyright} 2017 IEEE.; 2nd International Conference on Advanced Robotics and Mechatronics, ICARM 2017 ; Conference date: 27-08-2017 Through 31-08-2017",

year = "2017",

month = jul,

day = "2",

doi = "10.1109/ICARM.2017.8273208",

language = "英语",

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Liu, Y, Li, H, Ding, L, Liu, L, Liu, T , Wang, J & Gao, H 2017, An omnidirectional mobile operating robot based on mecanum wheel. in 2017 2nd International Conference on Advanced Robotics and Mechatronics, ICARM 2017. 2017 2nd International Conference on Advanced Robotics and Mechatronics, ICARM 2017, vol. 2018-January, Institute of Electrical and Electronics Engineers Inc., pp. 468-473, 2nd International Conference on Advanced Robotics and Mechatronics, ICARM 2017, Hefei and Tai'an, China, 27/08/17. https://doi.org/10.1109/ICARM.2017.8273208

An omnidirectional mobile operating robot based on mecanum wheel. / Liu, Yiqun; Li, Hao; Ding, Liang et al.
2017 2nd International Conference on Advanced Robotics and Mechatronics, ICARM 2017. Institute of Electrical and Electronics Engineers Inc., 2017. p. 468-473 (2017 2nd International Conference on Advanced Robotics and Mechatronics, ICARM 2017; Vol. 2018-January).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - An omnidirectional mobile operating robot based on mecanum wheel

AU - Liu, Yiqun

AU - Li, Hao

AU - Ding, Liang

AU - Liu, Leilei

AU - Liu, Tao

AU - Wang, Jianfeng

AU - Gao, Haibo

PY - 2017/7/2

Y1 - 2017/7/2

N2 - Omnidirectional mobile operating robot not only expands the working space of manipulator, but also enhances the function of the omnidirectional vehicle. So, it has wide application prospect. This paper analyses the omnidirectional movement principle of Mecanum wheel, designs an omnidirectional moving vehicle based on Mecanum wheel, and establishes its motion control rules. A manipulator with six degrees of freedom is designed and its kinematic model is established. Simulation platform of omnidirectional mobile operating robot is developed, and the motion trajectory to cover the maximum moment and speed of joints as much as possible is designed. Simulation results show that the movement of omnidirectional vehicle is steady and the vertical fluctuation is small. The predetermined trajectory of manipulator is achieved, the movement of joints is smooth, and the force and energy consumption of each joint are reasonable, which verifies the feasibility of the omnidirectional mobile operating robot.

AB - Omnidirectional mobile operating robot not only expands the working space of manipulator, but also enhances the function of the omnidirectional vehicle. So, it has wide application prospect. This paper analyses the omnidirectional movement principle of Mecanum wheel, designs an omnidirectional moving vehicle based on Mecanum wheel, and establishes its motion control rules. A manipulator with six degrees of freedom is designed and its kinematic model is established. Simulation platform of omnidirectional mobile operating robot is developed, and the motion trajectory to cover the maximum moment and speed of joints as much as possible is designed. Simulation results show that the movement of omnidirectional vehicle is steady and the vertical fluctuation is small. The predetermined trajectory of manipulator is achieved, the movement of joints is smooth, and the force and energy consumption of each joint are reasonable, which verifies the feasibility of the omnidirectional mobile operating robot.

KW - Manipulator

KW - Mecanum Wheel

KW - Mobile Operation

KW - Omnidirectional Vehicle

KW - Performance Simulation

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BT - 2017 2nd International Conference on Advanced Robotics and Mechatronics, ICARM 2017

PB - Institute of Electrical and Electronics Engineers Inc.

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Y2 - 27 August 2017 through 31 August 2017

ER -

Liu Y, Li H, Ding L, Liu L, Liu T , Wang J et al. An omnidirectional mobile operating robot based on mecanum wheel. In 2017 2nd International Conference on Advanced Robotics and Mechatronics, ICARM 2017. Institute of Electrical and Electronics Engineers Inc. 2017. p. 468-473. (2017 2nd International Conference on Advanced Robotics and Mechatronics, ICARM 2017). doi: 10.1109/ICARM.2017.8273208

An omnidirectional mobile operating robot based on mecanum wheel

Abstract

Publication series

Conference

UN SDGs

Keywords

Access to Document

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