Modeling and Kinematics Simulation of a Mecanum Wheel Platform in RecurDyn
The innovative method of modeling and kinematics simulation in RecurDyn are proposed, taking a Mecanum wheel platform(MWP) for omnidirectional wheelchair as research object. In order to study the motion characteristics and mobile performance of the MWP, the virtual prototype simulation model is esta...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2018-01-01
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| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2018/9373580 |
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| _version_ | 1832546560082182144 |
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| author | Yunwang Li Sumei Dai Yuwei Zheng Feng Tian Xucong Yan |
| author_facet | Yunwang Li Sumei Dai Yuwei Zheng Feng Tian Xucong Yan |
| author_sort | Yunwang Li |
| collection | DOAJ |
| description | The innovative method of modeling and kinematics simulation in RecurDyn are proposed, taking a Mecanum wheel platform(MWP) for omnidirectional wheelchair as research object. In order to study the motion characteristics and mobile performance of the MWP, the virtual prototype simulation model is established in SolidWorks, and virtual prototype simulation is carried out in RecurDyn. The experience of simulation for the MWP in RecurDyn is introduced, and the simulation steps and points for attention are described detailedly. The working states of the mobile system in real environment have been simulated through virtual simulation experiments. Four typical motion models including moving forward, moving laterally, moving laterally in the direction of 45°, and rotation have been simulated in RecurDyn. The simulation results exactly reflect the motion of the MWP. By comparing the simulation results with the theoretical results, there are acceptable errors that are relatively less overall in the simulation results. The simulation results can be used to predict the performance of the platform and evaluate the design rationality, and design quality can be improved according to the exposed problem. This paper can provide reference for the simulation of mobile platform by using RecurDyn. |
| format | Article |
| id | doaj-art-d7b77250396d4e2f955c093850c04f26 |
| institution | Kabale University |
| issn | 1687-9600 1687-9619 |
| language | English |
| publishDate | 2018-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Robotics |
| spelling | doaj-art-d7b77250396d4e2f955c093850c04f262025-02-03T06:48:29ZengWileyJournal of Robotics1687-96001687-96192018-01-01201810.1155/2018/93735809373580Modeling and Kinematics Simulation of a Mecanum Wheel Platform in RecurDynYunwang Li0Sumei Dai1Yuwei Zheng2Feng Tian3Xucong Yan4School of Mechatronic Engineering, China University of Mining and Technology, Xuzhou 221116, ChinaSchool of Mechanical and Electrical Engineering, Xuzhou Institute of Technology, Xuzhou 221111, ChinaSchool of Mechatronic Engineering, China University of Mining and Technology, Xuzhou 221116, ChinaSchool of Mechatronic Engineering, China University of Mining and Technology, Xuzhou 221116, ChinaSchool of Mechatronic Engineering, China University of Mining and Technology, Xuzhou 221116, ChinaThe innovative method of modeling and kinematics simulation in RecurDyn are proposed, taking a Mecanum wheel platform(MWP) for omnidirectional wheelchair as research object. In order to study the motion characteristics and mobile performance of the MWP, the virtual prototype simulation model is established in SolidWorks, and virtual prototype simulation is carried out in RecurDyn. The experience of simulation for the MWP in RecurDyn is introduced, and the simulation steps and points for attention are described detailedly. The working states of the mobile system in real environment have been simulated through virtual simulation experiments. Four typical motion models including moving forward, moving laterally, moving laterally in the direction of 45°, and rotation have been simulated in RecurDyn. The simulation results exactly reflect the motion of the MWP. By comparing the simulation results with the theoretical results, there are acceptable errors that are relatively less overall in the simulation results. The simulation results can be used to predict the performance of the platform and evaluate the design rationality, and design quality can be improved according to the exposed problem. This paper can provide reference for the simulation of mobile platform by using RecurDyn.http://dx.doi.org/10.1155/2018/9373580 |
| spellingShingle | Yunwang Li Sumei Dai Yuwei Zheng Feng Tian Xucong Yan Modeling and Kinematics Simulation of a Mecanum Wheel Platform in RecurDyn Journal of Robotics |
| title | Modeling and Kinematics Simulation of a Mecanum Wheel Platform in RecurDyn |
| title_full | Modeling and Kinematics Simulation of a Mecanum Wheel Platform in RecurDyn |
| title_fullStr | Modeling and Kinematics Simulation of a Mecanum Wheel Platform in RecurDyn |
| title_full_unstemmed | Modeling and Kinematics Simulation of a Mecanum Wheel Platform in RecurDyn |
| title_short | Modeling and Kinematics Simulation of a Mecanum Wheel Platform in RecurDyn |
| title_sort | modeling and kinematics simulation of a mecanum wheel platform in recurdyn |
| url | http://dx.doi.org/10.1155/2018/9373580 |
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