title: ÐÑÐ¾ÐµÐºÑÐ¸ÑÐ¾Ð²Ð°Ð½Ð¸Ðµ ÑÐ°ÑÑÐ¸ Ð½Ð° ÐºÐ¾Ð»ÑÑÐ°Ñ ÐÐ»Ð¾Ð½Ð° Ð´Ð»Ñ Ð°Ð²ÑÐ¾Ð½Ð¾Ð¼Ð½ÑÑ Ð¼Ð¾Ð±Ð¸Ð»ÑÐ½ÑÑ Ð¿Ð»Ð°ÑÑÐ¾ÑÐ¼
title: Ð²ÑÐ¿ÑÑÐºÐ½Ð°Ñ ÐºÐ²Ð°Ð»Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð±Ð°ÐºÐ°Ð»Ð°Ð²ÑÐ°
titleType: Subtitle
title: Design of mecanum wheeled chassis for autonomous mobile platforms
Creators: name: ÐÑÐ¸Ð½Ð¸ÑÑÐ½, ÐÐ½Ð´ÑÐµÐ¹
Publisher: name: Ð¡Ð°Ð½ÐºÑ-ÐÐµÑÐµÑÐ±ÑÑÐ³ÑÐºÐ¸Ð¹ Ð¿Ð¾Ð»Ð¸ÑÐµÑÐ½Ð¸ÑÐµÑÐºÐ¸Ð¹ ÑÐ½Ð¸Ð²ÐµÑÑÐ¸ÑÐµÑ ÐÐµÑÑÐ° ÐÐµÐ»Ð¸ÐºÐ¾Ð³Ð¾
Year: 2020
Subjects: Ð²ÑÐµÐ½Ð°Ð¿ÑÐ°Ð²Ð»ÐµÐ½Ð½ÑÐµ ÐºÐ¾Ð»ÑÑÐ°
ÐºÐ¸Ð½ÐµÐ¼Ð°ÑÐ¸ÐºÐ°
ÐºÐ¾Ð»ÐµÑÐ¾ ÐÐ»Ð¾Ð½Ð°
ÑÑÐµÐ¿ÐµÐ½Ñ ÑÐ²Ð¾Ð±Ð¾Ð´Ñ
ÐÑÐ°ÑÐµÐ½Ð¸Ðµ
Ð¿Ð»Ð°ÑÑÐ¾ÑÐ¼Ð°
ÑÐ¾Ð»Ð¸ÐºÐ¸
ÑÐ³Ð»Ð¾Ð²Ð°Ñ ÑÐºÐ¾ÑÐ¾ÑÑÑ
omnidirectional wheel
kinemstics
mecanum wheel
degree of freedom
rotation
platform
roller
angular velocity

description: Ð ÑÐ°Ð±Ð¾ÑÐµ Ð¸Ð·Ð»Ð¾Ð¶ÐµÐ½Ñ Ð¾ÑÐ½Ð¾Ð²Ð½ÑÐµ Ð¿ÑÐ¸Ð½ÑÐ¸Ð¿Ñ ÑÐ°Ð±Ð¾ÑÑ ÑÐ°ÑÑÐ¸ Ð½Ð° ÐºÐ¾Ð»ÑÑÐ°Ñ ÐÐ»Ð¾Ð½Ð°. Ð¦ÐµÐ»ÑÑ ÑÑÐ¾Ð¹ ÑÐ°Ð±Ð¾ÑÑ ÑÐ²Ð»ÑÐµÑÑÑ Ð¿Ð¾Ð»ÑÑÐµÐ½Ð¸Ðµ ÑÐºÐ¾ÑÐ¾ÑÑÐ¸ Ð²ÑÐ°ÑÐµÐ½Ð¸Ñ ÐºÐ¾Ð»ÑÑ ÑÑÐ¾Ð³Ð¾ ÑÐ°ÑÑÐ¸ Ð¿Ð»Ð°ÑÑÐ¾ÑÐ¼Ñ Ð² Ð·Ð°Ð²Ð¸ÑÐ¸Ð¼Ð¾ÑÑÐ¸ Ð¾Ñ ÑÐ°ÑÐ°ÐºÑÐµÑÐ° Ð´Ð²Ð¸Ð¶ÐµÐ½Ð¸Ñ, ÐºÐ¾ÑÐ¾ÑÐ¾Ðµ Ð½ÐµÐ¾Ð±ÑÐ¾Ð´Ð¸Ð¼Ð¾ Ð¾ÑÑÑÐµÑÑÐ²Ð¸ÑÑ. ÐÐ½Ð°ÑÐ°Ð»Ðµ, Ð¿ÑÐ¾Ð²ÐµÐ´ÑÐ½ Ð¾Ð±Ð·Ð¾Ñ ÑÐ°Ð·Ð»Ð¸ÑÐ½ÑÑ Ð²Ð°ÑÐ¸Ð°Ð½ÑÐ¾Ð² Ð²ÑÐµÐ½Ð°Ð¿ÑÐ°Ð²ÐµÐ½Ð½ÑÑ ÑÐ°ÑÑÐ¸. ÐÐ°Ð»ÐµÐµ, ÑÐ°ÑÑÐ¼Ð¾ÑÑÐµÐ½Ñ Ð¾Ð±Ð¾Ð±ÑÑÐ½Ð½ÑÐµ Ð·Ð°ÐºÐ¾Ð½Ñ Ð´Ð²Ð¸Ð¶ÐµÐ½Ð¸Ñ Ð¿Ð»Ð°ÑÑÐ¾ÑÐ¼Ñ Ð½Ð°ÑÐ°ÑÑÐ¸ÑÐ¶Ðµ ÐºÐ¾Ð½ÐºÑÐµÑÐ½Ð¾ Ð½Ð° ÐºÐ¾Ð»ÑÑÐ°Ñ ÐÐ»Ð¾Ð½Ð°. ÐÐ¾Ð»ÑÑÐµÐ½Ð° Ð°Ð½Ð°Ð»Ð¸ÑÐ¸ÑÐµÑÐºÐ¸Ð² Ð¾Ð±ÑÐµÐ¼ Ð²Ð¸Ð´ÐµÐ·Ð°Ð´Ð°Ð½Ð½Ð°Ñ ÑÐ¾ÑÐ¼Ð° ÑÐ¾Ð»Ð¸ÐºÐ¾Ð², Ð² Ð·Ð°Ð²Ð¸ÑÐ¸Ð¼Ð¾ÑÑÐ¸ Ð¾Ñ Ð¾ÑÐ½Ð¾Ð²Ð½ÑÑ Ð³ÐµÐ¾Ð¼ÐµÑÑÐ¸ÑÐµÑÐºÐ¸Ñ Ð¿Ð°ÑÐ°Ð¼ÐµÑÑÐ¾Ð² ÐºÐ¾Ð»ÐµÑÐ°. Ð Ð°ÑÑÐ¼Ð¾ÑÑÐµÐ½Ñ ÑÑÐµÐ±Ð¾Ð²Ð°Ð½Ð¸Ñ Ðº ÑÐ°Ð¼ÐºÐµ, ÑÐ°Ð·Ð½Ð¾Ð²Ð¸Ð´Ð½Ð¾ÑÑÐ¸ ÑÐ°Ð¼Ð¾Ðº Ð¸ Ð²ÐºÑÐ°ÑÑÐµ âÑÐµÑÐ½Ð¾Ð»Ð¾Ð³Ð¸Ñ Ð¿ÑÐ¾Ð¸Ð·Ð²Ð¾Ð´ÑÑÐ²Ð°. ÐÐ° Ð¾ÑÐ½Ð¾Ð²Ðµ ÑÐ²ÐµÐ´ÐµÐ½Ð¸Ð¹ Ð¸Ð· Ð³ÐµÐ¾Ð¼ÐµÑÑÐ¸ÑÐµÑÐºÐ¾Ð³Ð¾ Ð°Ð½Ð°Ð»Ð¸Ð·Ð° Ð¿Ð¾Ð»ÑÑÐµÐ½Ñ Ð·Ð°ÐºÐ¾Ð½Ñ ÐºÐ¸Ð½ÐµÐ¼Ð°ÑÐ¸ÐºÐ¸ Ð´ÐµÑÐ°Ð»ÐµÐ¹ ÐºÐ¾Ð»ÐµÑÐ° ÐÐ»Ð¾Ð½Ð°. Ð Ð°ÑÑÐ¼Ð¾ÑÑÐµÐ½Ð¾ Ð´Ð²Ð¸Ð¶ÐµÐ½Ð¸Ðµ ÑÐ¾Ð»Ð¸ÐºÐ¾Ð² Ð² Ð¾Ð±ÐµÐ¸Ñ ÑÑÐµÐ¿ÐµÐ½ÑÑ ÑÐ²Ð¾Ð±Ð¾Ð´Ñ, Ð¿Ð¾ÐºÐ°Ð·Ð°Ð½Ð° ÑÐ²ÑÐ·Ñ ÑÐ³Ð»Ð¾Ð²Ð¾Ð¹ ÑÐºÐ¾ÑÐ¾ÑÑÐ¸ ÑÐ¾Ð»Ð¸ÐºÐ° Ñ Ð¿Ð¾Ð»Ð¾Ð¶ÐµÐ½Ð¸ÐµÐ¼ ÐºÐ¾Ð»ÐµÑÐ° ÐÐ»Ð¾Ð½Ð° Ð² Ð¿ÑÐ¾ÑÑÑÐ°Ð½ÑÑÐ²Ðµ, Ð½Ð°Ð¹Ð´ÐµÐ½Ð¾ Ð¼Ð½Ð¾Ð¶ÐµÑÑÐ²Ð¾ ÑÐ¾ÑÐµÐº, ÑÐ²Ð»ÑÑÑÐ¸ÑÑÑ Ð¼Ð³Ð½Ð¾Ð²ÐµÐ½Ð½ÑÐ¼Ð¸ ÑÐµÐ½ÑÑÐ°Ð¼Ð¸ ÑÐºÐ¾ÑÐ¾ÑÑÐµÐ¹, Ð¼Ð°ÑÐµÐ¼Ð°ÑÐ¸ÑÐµÑÐºÐ¸ Ð¾Ð±Ð¾ÑÐ½Ð¾Ð²Ð°Ð½Ð¾ ÑÐ¼ÐµÑÐµÐ½Ð¸Ðµ Ð¾ÑÐµÐ¹ Ð´Ð²Ð¸Ð¶ÐµÐ½Ð¸Ñ Ð¿Ð¾ Ð¼ÐµÑÐµ Ð²ÑÐ°ÑÐµÐ½Ð¸Ñ ÐºÐ¾Ð»ÐµÑÐ°.ÐÑÐ¾Ð´ÐµÐ¼Ð¾Ð½ÑÑÑÐ¸ÑÐ¾Ð²Ð°Ð½ Ð¿ÑÐ¸Ð¼ÐµÑ Ð¸ÑÐ¿Ð¾Ð»ÑÐ·Ð¾Ð²Ð°Ð½Ð¸Ñ Ð¿Ð¾Ð»ÑÑÐµÐ½Ð½ÑÑ ÑÐ¾ÑÐ¼ÑÐ» Ð´Ð»Ñ ÑÐ°ÑÑÑÑÐ¾Ð² ÑÐ³Ð»Ð¾Ð²ÑÑ ÑÐºÐ¾ÑÐ¾ÑÑÐµÐ¹ Ð´Ð²Ð¸Ð³Ð°ÑÐµÐ»ÐµÐ¹ ÐºÐ¾Ð»ÑÑ Ð´Ð»Ñ ÑÐ¾Ð·Ð´Ð°Ð½Ð¸Ñ ÑÑÐµÐ±ÑÐµÐ¼Ð¾Ð³Ð¾ Ð´Ð²Ð¸Ð¶ÐµÐ½Ð¸Ñ. Ð¢Ð°Ðº Ð¶Ðµ, ÑÐ°ÑÑÐ¼Ð¾ÑÑÐµÐ½Ð° Ð½ÐµÑÐ°Ð²Ð½Ð¾Ð¼ÐµÑÐ½Ð¾ÑÑÑ Ð´Ð²Ð¸Ð¶ÐµÐ½Ð¸Ñ, Ð²Ð¾Ð·Ð½Ð¸ÐºÐ°ÑÑÐ°Ñ Ð¸Ð·-Ð·Ð° ÑÐ¼ÐµÑÐµÐ½Ð¸Ñ Ð¾ÑÐµÐ¹ Ð´Ð²Ð¸Ð¶ÐµÐ½Ð¸Ñ.
description: The work outlines the basic principles of operation of the chassis on mecanum wheels. The aim of this work is to obtain the wheel speed of this platform chassis, depending on the nature of the movement that needs to be carried out.First, an overview of the various options for omnidirectional chassis. Further, the generalized laws of the platformâs motion on the chassis are considered specifically on mecanum wheels. The given form of the rollers was obtained analytically in a general form, depending on the basic geometric parameters of the wheel. The requirements for the frame, the types of frames and, in short, theproduction technology are considered. Based on information from geometric analysis, the laws of kinematics of the mecanumwheel parts are obtained. The motion of the rollers in both degrees of freedom is considered, the relationship of the angular velocity of the roller with the position of the mecanumwheel in space is shown, many points are found that are instantaneous speed centers, the displacement of the axes of movement is mathematically justified as the wheel rotates. An example of using the obtained formulas for calculating the angular velocities of wheel engines to create the required movement is demonstrated. Also, the non-uniformity of movement arising due to the displacement of the axes of movement is considered.