Mecanum wheel
This article needs additional citations for verification. (September 2011) |
The mecanum wheel is an
Design
The mecanum wheel is a form of
The typical Mecanum design is the four-wheel configuration as demonstrated by one of the URANUS omni-directional mobile robot[4] (pictured) or a wheelchair with Mecanum wheels (similar to that pictured).,[5] with an alternating with left- and right-handed rollers whose axles at the top of the wheel are parallel to the diagonal of the vehicle frame (and hence perpendicular to the diagonal when at where the bottom of the wheel contacts the ground). In such a way, each wheel will generate a thrust roughly parallel to the corresponding frame diagonal. By varying the rotational speed and direction of each wheel, the summation of the force vectors from each of the wheels will create both linear motions and/or rotations of the vehicle, allowing it to maneuver around with minimal need for space. For example:
- Running all four wheels in the same direction at the same speed will result in a forward/backward movement, as the longitudinal force vectors add up but the transverse vectors cancel each other out;
- Running (all at the same speed) both wheels on one side in one direction while the other side in the opposite direction, will result in a vertical axisof the vehicle;
- Running (all at the same speed) the diagonal wheels in one direction while the other diagonal in the opposite direction will result in a sideways movement, as the transverse vectors add up but the longitudinal vectors cancel out.
A mix of differential wheel motions will allow for vehicle motion in almost any direction with any rotation.
Use
The
Youth robotics competitions such as FIRST Tech Challenge and VEX Robotics often use mecanum wheels. Robotics teams need to move efficiently on the field in order to score the most points possible, so many teams have adapted mecanum wheels from suppliers such as Nexus and GoBilda.
See also
References
- ^ DE 2354404, Ilon Bengt Erland, "Rad Fuer Ein Laufstabiles, Selbstfahrendes Fahrzeug", issued 1974-05-16
- ^ US 3876255, Ilon Bengt Erland, "Wheels for a Course Stable Selfpropelling Vehicle Movable in any Desired Direction on the Ground or Some Other Base", issued 1975-04-08
- ^ "Improved Mecanum Wheel Design for Omni-Directional Robots" (PDF). Institute of Technology and Engineering, Massey University. November 2002. Retrieved 2011-09-22.
- ^ Podnar, Gregg (1985). ""Uranus"". www.cs.cmu.edu.
- ^ "Electric Wheel Chair". Planetary Engineering Group. Retrieved 2019-01-13.
External links
- Airtrax video
- Orlando Business Journal article Omnics' wheel of fortune rolls into production by Chad Eric Watt, 31 May 2002.
- The Wall Street Journal online Make It by Paulette Thomas, 9 May 2005.
- Video of a wheel chair with Mecanum wheels (WMV).[1] The wheel chair was presented at the 2006 EVER Monaco.
- Segway RMP Photos of a 2008 Segway robot with Mecanum wheels.
- CMU's "Tessellator" robot designed in 1992 for servicing Space Shuttle tiles used Mecanum wheels.[2]
- CMU URANUS Mobile Robot, the first mobile robot with Mecanum wheels built in 1985 and used for two decades for autonomous navigation research.[3]
- ^ "Electric wheel chair with mecanum wheels". Planetary Engineering Group. Archived from the original on 2006-06-13.
- S2CID 45365293.
- ^ Podnar, Gregg W. (1985). "The URANUS Mobile Robot" (PDF). Autonomous Mobile Robots Annual Report 1985, Mobile Robot Laboratory (CM U-KI-TK-86-4): 127–129. Archived (PDF) from the original on 2008-12-03.