• 한국정밀공학회지
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• 제15권3호
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• pp.11-17
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• 1998

The mecanum wheel was originaly developed in sweden to realize the omni-directional motion of the cart. The circumference of each wheel is lined with rollers set at 45 degrees relative to the main wheel. This paper proves that the roller of the mecanum wheel shapes the ellipsoid, derives the kinematic relationships between the parameters of the wheel and rollers, and proposes the procedure to determine the parameters of the wheel. The result was implemented into the computer program for the design of the mecanum wheel.

• 한국정밀공학회지
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• 제28권2호
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• pp.211-218
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• 2011

We reported the design, prototype, test drive, and mechanical & electrical engineering analyses of a power-lifting wheelchair using mecanum wheels. Mecanum wheels enable translational and rotational movement of the device in any direction on the ground. The power-lifting capability enables the seated individual to reach the standing height of a non-disabled individual. This mecanum wheelchair is fully controlled by the joystick attached to the armrest. The motion of the wheelchair and lifting action of the seat were studied using statics and dynamics. We believe this mecanum wheelchair is a prime candidate for commercial production.

• 한국군사과학기술학회지
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• 제22권3호
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• pp.401-407
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• 2019

In this paper, the position estimation considering wheel slip of mecanum wheeled mobile robots is discussed. Since the mecanum wheeled mobile robot does not need a space to rotate, it is very suitable in narrow industrial fields. However, the slip caused by the roller attached to the wheel makes it difficult to estimate the position precisely. Due to these limitations, mecanum wheels are rarely applied to unmanned mobile robots in automation factories. In this paper, a method to compensate the orientation and distance error caused by the slip is proposed. The exact orientation is measured by fusing gyro and magnetometer sensor data with application of Kalman filter. In addition, the kinematic model accounting slip effects will be defined to compensate the distance error.

• 제어로봇시스템학회논문지
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• 제21권4호
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• pp.336-341
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• 2015

This paper proposes a balancing and driving control system for a Mecanum wheel ball robot which has a two axis structure and four motors. The inverted pendulum control method is adopted to maintain the balance of the ball robot while it is driving. For the balancing control, an anon-model-based controller has been designed to control the device simply without the need of a complex formula. All the gains of the controller are heuristically adjusted during the experiments. The tilt angle is measured by IMU sensors, which is used to generate the control input of the roll and pitch controller to make the tilt angle zero. For the driving control, the PID control algorithm has been adopted with angles of the wheels and the encoder data. The performance of the designed control system has been verified through the real experiments with the suggested ball robot.