• 제어로봇시스템학회논문지
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• 제20권7호
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• pp.713-717
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• 2014

In this paper, the travel control of the spherical wheeled robot with a mecanum wheel is impelemented. Four typical wheels or three omni wheels are used to consist of the ball-bot. the slip is occured when the typical wheels is used to the ball-bot. In order to reduce these slip, the spherical wheeled robot with macanum wheels is proposed. Through some experiments, we find that the proposed spherical wheeled robot with a mecanum wheel is superior to the conventional spherical wheeled robot with typical wheels.

• 한국기계가공학회지
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• 제13권2호
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• pp.117-123
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• 2014

In order to provide a mobile robot with omnidirectionality, various types of omnidirectional wheels have been developed. This paper deals with an improved design and structural analysis of a Mecanum wheel, which is the type of omnidirectional wheels most commonly used in industrial fields. A geometric formulation for manufacturingthe Mecanum wheel is presented and two types of Mecanum wheels are designed and fabricated in this research. While conventional assembled-type Mecanum wheels have a complicated structure and the high possibility of mutual interference between sub-components, a unified type of Mecanum wheel reduces the number of sub-components and increases the degree of structural rigidity. The stress and strain properties of the two designs are compared to confirm the quantitative improvement of the new design by a commercial structural analysis tool. The analysis results show that the unified type of Mecanum wheel has properties superior to the assembled type of Mecanum wheel in terms of its ability to reduce interference.