Mecanum轮几何模型与运动的分析

Analysis of Geometric Model and Kinematic Based on Mecanum Wheel

Mecanum轮的意义是其在全方位移动平台中的应用，它由一组绕轮子轴线规则排列的滚子组成。通过分析滚子的几何模型，得到滚子轮廓面参数方程和轴截型曲线方程，由此可以方便、精确地制造出滚子。根据滚子的参数模型得到移动平台速度和Mecanum轮角速度之间的关系方程，为Mecanum轮平台的运动学研究提供了更为精确的理论基础。

It is important that Mecanum wheels are used when omni-directional movability of a vehicle. A Mecanum wheel consists of a set of rolls arranged around the wheel axis. Parametrizations of the roll surface and its meridian curve were worked out by analyzing geometric model of roll. With their help, we can easily and precisely manufacture rolls. Equations of the vehicle motion and Meeanum wheel rotation were obtained by the roll parametrization. It is the starting point for some more accurate analysis of the kinematics of Mecanum wheel vehicles in future research work.