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Advances in Manufacturing

Erschienen in:

09.12.2016

Accuracy analysis of omnidirectional mobile manipulator with mecanum wheels

verfasst von: Shuai Guo, Yi Jin, Sheng Bao, Feng-Feng Xi

Erschienen in: Advances in Manufacturing | Ausgabe 4/2016

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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.

Vorheriger Artikel Study of the thermal influence on the dynamic characteristics of the motorized spindle system

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Titel: Accuracy analysis of omnidirectional mobile manipulator with mecanum wheels
verfasst von: Shuai Guo
Yi Jin
Sheng Bao
Feng-Feng Xi
Publikationsdatum: 09.12.2016
Verlag: Shanghai University
Erschienen in: Advances in Manufacturing / Ausgabe 4/2016
Print ISSN: 2095-3127
Elektronische ISSN: 2195-3597
DOI: https://doi.org/10.1007/s40436-016-0164-3

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