Open AccessPrototype development of mecanum wheels mobile robot: A review
Author(s) -
Mohd Azri Abd Mutalib,
Norsinnira Zainul Azlan
Publication year - 2020
Publication title -
applied research and smart technology
Language(s) - English
Resource type - Journals
eISSN - 2722-9645
pISSN - 2722-9637
DOI - 10.23917/arstech.v1i2.39
Subject(s) - mobile robot , robot , slippage , kinematics , engineering , control engineering , computer science , development (topology) , simulation , artificial intelligence , mathematical analysis , physics , mathematics , structural engineering , classical mechanics
This paper provides the review and prototype development of mecanum wheels mobile robot (MWMR). Nowadays, there is a high market demand for a wheeled machine or wheeled robot for various applications. The ability to move in any direction without altering even a single wheel makes this type of wheel useful for driving, especially in a narrowed or confined space. Various styles of implementing MWMR are discussed in this paper. The kinematic derivation and dynamic modelling are also presented. Characteristically, mecanum wheels face traditional mobile application issues like jerking and slippage, which contribute to low positioning accuracy and repeatability. Besides, environmental factors like disturbance and uncertainty also contribute to these issues. To eliminate or at least reduce the effect, the control strategies in previous researches have been reviewed and are presented in this paper. Finally, a low-cost prototype of MWMR was developed as an experimental platform for future study.