This article is cited in 1 paper

Nonlinear engineering and robotics

Criteria of Motion Without Slipping for an Omnidirectional Mobile Robot

I. S. Mamaev^a, A. A. Kilin^bc, Yu. L. Karavaev^da, V. A. Shestakov<sup>a

a</sup> Kalashnikov Izhevsk State Technical University, ul. Studencheskaya 7, Izhevsk, 426069 Russia
^b Ural Mathematical Center, Udmurt State University, ul. Universitetskaya 1, Izhevsk, 426034 Russia
^c Institute of Mathematics and Mechanics of the Ural Branch of RAS, ul. S. Kovalevskoi 16, Ekaterinburg, 620990 Russia
^d I. N. Ulianov Chuvash State University, Moskovskii prosp. 15, Cheboksary, 428015 Russia

Abstract: In this paper we present a study of the dynamics of a mobile robot with omnidirectional wheels taking into account the reaction forces acting from the plane. The dynamical equations are obtained in the form of Newton –Euler equations. In the course of the study, we formulate structural restrictions on the position and orientation of the omnidirectional wheels and their rollers taking into account the possibility of implementing the omnidirectional motion. We obtain the dependence of reaction forces acting on the wheel from the supporting surface on the parameters defining the trajectory of motion: linear and angular velocities and accelerations, and the curvature of the trajectory of motion. A striking feature of the system considered is that the results obtained can be formulated in terms of elementary geometry.

Keywords: omnidirectional mobile robot, reaction force, simulation, nonholonomic model.

MSC: 70Q05, 70F40

Received: 31.10.2021
Accepted: 20.12.2021

Language: English

DOI: 10.20537/nd210412

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