Modeling and Kinematics Simulation of a Mecanum Wheel Platform in RecurDyn

<div>3D model of the MWP. <svg height="11.5564pt" id="M1" style="vertical-align:-2.26807pt" version="1.1" viewbox="-0.0498162 -9.28833 15.3928 11.5564" width="15.3928pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M300 -147C201 -63 143 98 143 270S200 602 300 686L282 710C136 610 70 450 70 271V270C70 89 136 -72 282 -170L300 -147Z" id="g113-41"></path></g><g transform="matrix(.013,0,0,-0.013,4.498,0)"><path d="M384 0V27C293 34 287 42 287 114V635C232 613 172 594 109 583V559L157 557C201 555 205 550 205 499V114C205 42 199 34 109 27V0H384Z" id="g113-50"></path></g><g transform="matrix(.013,0,0,-0.013,10.738,0)"><path d="M275 270C275 450 212 609 64 710L45 686C145 604 203 442 203 270S147 -63 45 -147L64 -170C213 -68 275 89 275 270Z" id="g113-42"></path></g></svg> Main body. (2) Rocker arm. (3) Mecanum wheel. (4) Differential mechanism.</div>

Journal of Robotics

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Figure 1

Figure 1: Modeling and Kinematics Simulation of a Mecanum Wheel Platform in RecurDyn 