Accuracy analysis of omnidirectional mobile manipulator with mecanum wheels

doi:10.1007/s40436-016-0164-3

Advances in Manufacturing ›› 2016, Vol. 4 ›› Issue (4): 363-370.doi: 10.1007/s40436-016-0164-3

Accuracy analysis of omnidirectional mobile manipulator with mecanum wheels

Shuai Guo¹, Yi Jin¹, Sheng Bao¹, Feng-Feng Xi²

1 Shanghai Key Laboratory of Intelligent Manufacturing and Robotics, Shanghai University, Shanghai, People's Republic of China;
2 Department of Aerospace Engineering, Ryerson University, Toronto, Canada

Received:2016-01-10 Revised:2016-11-11 Online:2016-12-25 Published:2016-12-25
Supported by:
This work was supported by the Shanghai Municipal Science and Technology Commission (Grant Nos. 14111104502 and 15550721900).

Abstract

Abstract:

This article is based on the omnidirectional mobile manipulator with mecanum wheels built at Shanghai University. The article aims to find and analyze the parameters of kinematic equation of the omnidirectional system which affects its motion accuracy. The method of solving the parameter errors involves three phases. The first step is equation operation to achieve the equation of relative errors. The second step is to obtain the displacement errors of the system via experiment and combine the error results with kinematic equation deduction to solve the geometric parameter errors in two methods. The third step is to verify its validity via comparing experiments. We can then revise its kinematics equation afterwards.

Key words: Mecanum wheel, Displacement error, Monte Carlo analysis, Interval analysis

Shuai Guo, Yi Jin, Sheng Bao, Feng-Feng Xi. Accuracy analysis of omnidirectional mobile manipulator with mecanum wheels[J]. Advances in Manufacturing, 2016, 4(4): 363-370.

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Accuracy analysis of omnidirectional mobile manipulator with mecanum wheels

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