Kinematic Analysis of Omnidirectional Mecanum wheeled Robot

Adebayo Haastrup; Onyero Walter  Ofuzim; Julius Oladejo Aanuoluwa

Authors

Adebayo Haastrup Dept. of Mechanical Engineering at Federal University of Technology Akure, Ondo State, Nigeria https://orcid.org/0000-0002-1243-3175
Walter Dept of Electrical Engineering at University of Benin, Edo State, Nigeria https://orcid.org/0000-0002-0677-3616
Aanuoluwa Dept. of Mechanical Engineering at Federal University of Technology Akure, Ondo State, Nigeria https://orcid.org/0000-0002-3583-4369

Keywords:

Robotics, Control system, Mechatronics, Mobile robot, Visual predictive control

Abstract

This study used the V-rep simulation environment to develop an omnidirectional, four-wheeled Robot model and perform kinematic analysis using youBot. Given their extensive use, it is essential to understand how Mecanum wheels' speeds convert into robot velocities before moving on to a dynamic model that governs how wheel torques translate into robot accelerations. This paper investigates the rate at which the wheels must be driven given the desired chassis velocity, also limit on the chassis velocity, given a limit on the individual wheel operating speed.

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Author Biographies

Walter, Dept of Electrical Engineering at University of Benin, Edo State, Nigeria

A self-motivated individual with a growth mindset, the ability to learn easily, attentive to details,
and hardworking. Looking to pursue a thesis-based graduate degree in Electrical Engineering and
Mechanical Engineering. A work in progress in computer programming, Machine Learning, and
Deep Learning. Spends his free time reading exciting research papers.

Aanuoluwa, Dept. of Mechanical Engineering at Federal University of Technology Akure, Ondo State, Nigeria

A young vibrant Engineer with a demonstrated work history in the telecommunication and construction industry. I am passionate to learning with critical thinking, focus driven and emotional intelligence. I earned Bachelor of Engineering - B.ENG. focused in Mechanical Engineering from The Federal University of Technology Akure (FUTA) ONDO State.

Best Quote: "With God on my side. I believe I can move mountain"

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