Abstract In this study, the effects of contact forces on the rollers of a mecanum wheeled robot are investigated. Modeling structures are constructed for the cases of single and multiple contact forces. A simulation environment is developed to examine these two cases. A theoretical model is proposed in order to reflect reality in the simulation environment. It is shown that single contact force assumption generates vertical vibration in a mecanum wheeled robot which is never desired in a real application. It is also demonstrated that adding more contact forces on a roller of a mecanum wheel's model decreases the transition distance between the rollers and thus creates smaller vibrations. An experimental setup, containing a four wheeled mecanum robot, is designed and built, and used for performing experiments to make verifications. Reference trajectory, simulation results obtained using single and multiple contact force cases and the experimental results are presented together to make comparisons. The details of the model proposed, simulation environment developed, experimental system designed and the results obtained are given in this paper.

中文翻译：

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接触力对麦克纳姆轮式机器人滚轮影响的研究

摘要 在这项研究中，研究了接触力对麦克纳姆轮式机器人滚子的影响。建模结构是针对单个和多个接触力的情况构建的。开发了一个模拟环境来检查这两种情况。提出了一种理论模型，以反映仿真环境中的现实情况。结果表明，单一接触力假设会在麦克纳姆轮式机器人中产生垂直振动，这在实际应用中是不希望的。还证明了在麦克纳姆轮模型的滚子上增加更多的接触力会减少滚子之间的过渡距离，从而产生更小的振动。设计并建造了一个包含四轮麦克纳姆机器人的实验装置，用于进行实验以进行验证。参考轨迹、使用单个和多个接触力情况获得的模拟结果和实验结果一起呈现以进行比较。本文详细介绍了所提出的模型、开发的仿真环境、设计的实验系统以及获得的结果。