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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...
Autores principales: | , , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
MDPI
2023
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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. |
format | Online Article Text |
id | pubmed-10204521 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2023 |
publisher | MDPI |
record_format | MEDLINE/PubMed |
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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