Nonlinear engineering and robotics

No-Overturn Conditions for Omnivehicle Motion

G. N. Moiseev

Lomonosov Moscow State University Leninsikie gory 1, Moscow, 119991 Russia

Abstract: We consider the dynamics of an omnidirectional vehicle moving on a perfectly rough horizontal plane. The vehicle has three omniwheels controlled by three direct current motors.
To find out the limits of the scope where the bilateral constraints model is applicable, we study the normal reactions of the vehicle. We present a step-by-step algorithm for finding out reaction components in the case of controlled motion. Based on these results, no-overturn conditions of the vehicle are proposed.
We apply this approach to study a specific model, that of a symmetrical omnivehicle. As a consequence, vehicle design recommendations are proposed.

Keywords: omnidirectional vehicle, omniwheel, Mecanum wheel, reaction force, nonholonomic model, unilateral constraints, constraint violation

MSC: 70E18, 70E55, 70E60, 70Q05

Received: 22.02.2024
Accepted: 19.04.2024

Language: English

DOI: 10.20537/nd240502

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