Development of a Dynamic Model for a Mobile Robot With Six Mecanum Wheels

This study focuses on the analysis of a mobile robot with six Mecanum wheels. Among all ground transportation systems, the robot equipped with Mecanum wheels possesses exceptional maneuverability and operates effectively in warehouse environments requiring precise control and high mobility. This type of robot was chosen as the research object for its combination of versatility and simplicity in implementation. The goal of this work is to develop a dynamic model of a mobile robot with six Mecanum wheels, enabling motion analysis and control. To achieve this, the following tasks were undertaken: a critical review of existing scientific and technical sources, the development of the robot's dynamic model, and its computer simulation. The dynamic equations were derived using Lagrange's equations of the second kind, accounting for the key parameters of motion. The mobile robot is considered a planar mechanism capable of linear and angular movement on a horizontal plane. It is assumed that motion occurs under the condition of pure rolling of the wheels without slipping. The dynamic model was validated through simulation of motion along two trajectories: straight and curved. The simulation results demonstrated the high accuracy of the proposed model, as confirmed by the small velocity error values.