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Design, Modeling, and Control of a New Multi-Motion Mobile Robot Based on Spoked Mecanum Wheels

This paper presents an exciting and meaningful design to make mobile robots capable of adapting to various terrains. We designed a relatively simple and novel composite motion mechanism called the flexible spoked mecanum (FSM) wheel and created a mobile robot, LZ-1, with multiple motion modes based...

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Detalles Bibliográficos
Autores principales: Leng, Jie, Mou, Haiming, Tang, Jun, Li, Qingdu, Zhang, Jianwei
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2023
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10204521/
https://www.ncbi.nlm.nih.gov/pubmed/37218769
http://dx.doi.org/10.3390/biomimetics8020183
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author Leng, Jie
Mou, Haiming
Tang, Jun
Li, Qingdu
Zhang, Jianwei
author_facet Leng, Jie
Mou, Haiming
Tang, Jun
Li, Qingdu
Zhang, Jianwei
author_sort Leng, Jie
collection PubMed
description This paper presents an exciting and meaningful design to make mobile robots capable of adapting to various terrains. We designed a relatively simple and novel composite motion mechanism called the flexible spoked mecanum (FSM) wheel and created a mobile robot, LZ-1, with multiple motion modes based on the FSM wheel. Based on the motion analysis of the FSM wheel, we designed an omnidirectional motion mode for this robot, allowing it to move flexibly in all directions and successfully traverse rugged terrains. In addition, we designed a crawl motion mode for this robot, which can climb stairs effectively. We used a multilayer control method to move the robot according to the designed motion modes. Multiple experiments showed that these two motion modes for the robot are effective on various terrains.
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spelling pubmed-102045212023-05-24 Design, Modeling, and Control of a New Multi-Motion Mobile Robot Based on Spoked Mecanum Wheels Leng, Jie Mou, Haiming Tang, Jun Li, Qingdu Zhang, Jianwei Biomimetics (Basel) Article This paper presents an exciting and meaningful design to make mobile robots capable of adapting to various terrains. We designed a relatively simple and novel composite motion mechanism called the flexible spoked mecanum (FSM) wheel and created a mobile robot, LZ-1, with multiple motion modes based on the FSM wheel. Based on the motion analysis of the FSM wheel, we designed an omnidirectional motion mode for this robot, allowing it to move flexibly in all directions and successfully traverse rugged terrains. In addition, we designed a crawl motion mode for this robot, which can climb stairs effectively. We used a multilayer control method to move the robot according to the designed motion modes. Multiple experiments showed that these two motion modes for the robot are effective on various terrains. MDPI 2023-04-28 /pmc/articles/PMC10204521/ /pubmed/37218769 http://dx.doi.org/10.3390/biomimetics8020183 Text en © 2023 by the authors. https://creativecommons.org/licenses/by/4.0/Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
Leng, Jie
Mou, Haiming
Tang, Jun
Li, Qingdu
Zhang, Jianwei
Design, Modeling, and Control of a New Multi-Motion Mobile Robot Based on Spoked Mecanum Wheels
title Design, Modeling, and Control of a New Multi-Motion Mobile Robot Based on Spoked Mecanum Wheels
title_full Design, Modeling, and Control of a New Multi-Motion Mobile Robot Based on Spoked Mecanum Wheels
title_fullStr Design, Modeling, and Control of a New Multi-Motion Mobile Robot Based on Spoked Mecanum Wheels
title_full_unstemmed Design, Modeling, and Control of a New Multi-Motion Mobile Robot Based on Spoked Mecanum Wheels
title_short Design, Modeling, and Control of a New Multi-Motion Mobile Robot Based on Spoked Mecanum Wheels
title_sort design, modeling, and control of a new multi-motion mobile robot based on spoked mecanum wheels
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10204521/
https://www.ncbi.nlm.nih.gov/pubmed/37218769
http://dx.doi.org/10.3390/biomimetics8020183
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