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- Title
Analysis of Kinematic Constraints in the Linkage Model of a Mecanum-Wheeled Robot and a Trailer with Conventional Wheels.
- Authors
Zeidis, Igor; Zimmermann, Klaus; Greiser, Steffen; Marx, Julia
- Abstract
Mechanical systems that consist of a four-wheeled or two-wheeled robot with Mecanum wheels and a two-wheeled trailer with conventional wheels are considered. The kinematic characteristics of the mechanical systems under consideration of holonomic and non-holonomic constraints are presented and compared. From this, it is shown that the structure of the kinematic constraint equations for mobile systems with a trailer does not apply to Chaplygin's dynamic equations. If the mechanical system is not Chaplygin's system, then the dynamic equations cannot be integrated separately from the equations of kinematic constraints. This is the difference between the kinematic constraint equations for the robot-trailer system and the constraint equations for a single robot with Mecanum wheels. Examples of numerical calculations using the equations of kinematic constraints are given.
- Subjects
MOBILE robots; NONHOLONOMIC constraints; HOLONOMIC constraints; NUMERICAL calculations; WHEELS; ROBOTS; TRAILERS
- Publication
Applied Sciences (2076-3417), 2023, Vol 13, Issue 13, p7449
- ISSN
2076-3417
- Publication type
Article
- DOI
10.3390/app13137449