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Journal of Robotics
Volume 2018 (2018), Article ID 9373580, 7 pages
Research Article

Modeling and Kinematics Simulation of a Mecanum Wheel Platform in RecurDyn

1School of Mechatronic Engineering, China University of Mining and Technology, Xuzhou 221116, China
2School of Mechanical and Electrical Engineering, Xuzhou Institute of Technology, Xuzhou 221111, China

Correspondence should be addressed to Sumei Dai

Received 30 June 2017; Accepted 18 December 2017; Published 28 January 2018

Academic Editor: Long Cheng

Copyright © 2018 Yunwang Li et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


The innovative method of modeling and kinematics simulation in RecurDyn are proposed, taking a Mecanum wheel platform(MWP) for omnidirectional wheelchair as research object. In order to study the motion characteristics and mobile performance of the MWP, the virtual prototype simulation model is established in SolidWorks, and virtual prototype simulation is carried out in RecurDyn. The experience of simulation for the MWP in RecurDyn is introduced, and the simulation steps and points for attention are described detailedly. The working states of the mobile system in real environment have been simulated through virtual simulation experiments. Four typical motion models including moving forward, moving laterally, moving laterally in the direction of 45°, and rotation have been simulated in RecurDyn. The simulation results exactly reflect the motion of the MWP. By comparing the simulation results with the theoretical results, there are acceptable errors that are relatively less overall in the simulation results. The simulation results can be used to predict the performance of the platform and evaluate the design rationality, and design quality can be improved according to the exposed problem. This paper can provide reference for the simulation of mobile platform by using RecurDyn.