Modelling, simulation and experimental verification of a wheeled-locomotion system based on omnidirectional wheels
The following work focuses on the kinematic and dynamic study of a four-wheeled robot, which is equipped with omnidirectional Mecanum wheels. The main objective of the thesis is to obtain a mathematical model from which both the kinematics and kinetics of the robot can be analyzed. Furthermore, t...
| Autor Principal: | Flores Álvarez, Pedro Alonso |
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| Formato: | Tesis de Maestría |
| Idioma: | Inglés |
| Publicado: |
Pontificia Universidad Católica del Perú
2016
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| Materias: | |
| Acceso en línea: |
http://tesis.pucp.edu.pe/repositorio/handle/123456789/7554 |
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| Sumario: |
The following work focuses on the kinematic and dynamic study of a four-wheeled robot,
which is equipped with omnidirectional Mecanum wheels. The main objective of the
thesis is to obtain a mathematical model from which both the kinematics and kinetics of
the robot can be analyzed. Furthermore, the study presents a methodology to optimize
the torques (and subsequent associated voltages) provided by each of the motors on the
robot for a given trajectory.
A system in which a non-powered trailer pulled by the robot is also analyzed at a
kinematic level. In this stage, four different cases are considered. The construction of the
trailer is also described on this work.
In the first chapter, the global state of the art on analysis and control of omnidirectional
robots (with focus on robots with Mecanum wheels) is presented. In the second chapter,
the physical considerations for the general movement of the robot are analyzed, in order
to derive the kinematic constrain equations of the locomotion system. The differential
equation of motion is then derived using Lagrange-equations with multipliers. This
chapter presents as well the kinematic analysis for a robot-trailer system. The third
chapter describes the general process on the design of the trailer, including the rejected
ideas for its construction. The fourth chapter focuses on verifying the final results of the
design process, as well as tests to check the mobility of the system. Conclusions and
future work are analyzed on the final part of the document, as well as the references and
the acknowledgments to all the people involved in the project. |
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