Improved Mecanum Wheel Design for Omni （设计较为成熟完善麦克纳姆全方位轮的泛光灯）.pdfVIP

Proc. 2002 Australasian Conference on Robotics and Automation Auckland, 27-29 November 2002 Improved Mecanum Wheel Design for Omni-directional Robots Olaf Diegel, Aparna Badve, Glen Bright, Johan Potgieter, Sylvester Tlale Mechatronics and Robotics Research Group Institute of technology and Engineering, Massey University, Auckland abadve@massey.ac.nz , mechatronics.massey.ac.nz Abstract wheels to the desired direction whenever it needs to travel Omni-directional is used to describe the ability of in a trajectory with non-continuous curvatures a system to move instantaneously in any (Dubowsky, Skwersky, Yu, 2000). direction from any configuration. Omni- directional robotic platforms have vast Most special wheel designs are based on a concept that advantages over a conventional design in terms achieves traction in one direction and allow passive of mobility in congested environments. They are motion in another, thus allowing greater flexibility in capable of easily performing tasks in congested environments (West and Asada, 1997). One of environments congested with static and dynamic the more common omni-directional wheel designs is that obstacles and narrow aisles. These environments of the Mecanum wheel, invented in 1973 by Bengt Ilon, are commonly found in factory workshops an engineer with the Swedish company Mecanum AB. offices,