Journal articles: 'Mecanoo'

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Porter, David. "Mecanoo—experimental Pragmatism by Pietro Valle." Journal of Urban Design 14, no. 4 (November 2009): 570–71. http://dx.doi.org/10.1080/13574800903265447.

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López Cotelo, Borja Ramón. "Joost Swarte: la "línea clara" como herramienta en la representación arquitectónica." EGA Revista de Expresión Gráfica Arquitectónica 27, no. 46 (November 22, 2022): 156–71. http://dx.doi.org/10.4995/ega.2022.17643.

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El texto aborda la aportación a la expresión gráfica arquitectónica de un profesional ajeno a la disciplina, el autor de cómic e ilustrador neerlandés Joost Swarte (n. 1947). Se estudia para ello su colaboración con Mecanoo en el diseño del teatro Toneelschuur, ejemplo de participación del artista desde el embrión del proyecto hasta su definición final. El material gráfico conservado ha permitido analizar el papel que el dibujo y la ilustración jugaron en cada fase del proceso, así como su utilidad en la comunicación entre los distintos agentes participantes. El análisis se extiende a continuación a otras obras donde o bien la intervención de Swarte se limitó a fases concretas del proyecto o bien sus diseños funcionaron como adiciones artísticas a la arquitectura.

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Peña Rodríguez, Víctor Antonio. "Mecano Síntesis." Revista de Investigación de Física 1, no. 01 (July 31, 1998): 1–25. http://dx.doi.org/10.15381/rif.v1i01.8577.

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La mecano-síntesis es una técnica de producción de nuevos materiales metálicos en fases fuera del equilibrio termodinámicos, tales como soluciones sólidas extendidas, solcuiones sólidas amorfas, fases nanocristalinas, fases nanovítreas, cuasicristales. entre algunas de las más importantes. Su característica principal es que no necesita pasar por los elevados puntos de fusión de los metales o de las aleaciones metálicas reactantes. El presente trabajo realiza una descripción del fundamento teórico y la parte experimental de la técnica de mecanosíntesis.

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Feng, Zheng Kun, and Henri Champliaud. "FEM Analysis of Mecano-Welding Process for Manufacturing Cylinders." Key Engineering Materials 549 (April 2013): 444–51. http://dx.doi.org/10.4028/www.scientific.net/kem.549.444.

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Cylindrical components produced by mecano-welding process are widely used in industries. The mecano-welding process consists of a roll bending sub-process which can produce non-closed cylinders and a welding process which can seam gaps. This paper proposes a numerical model to simulate the process and to get better understanding of the process mechanism. Explicit and implicit solvers are applied to the numerical modeling by using LS-DYNA and ANSYS software. The numerical model can provide a useful tool for design and optimization of the mecano-welding process.

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Li, Yunwang, Sumei Dai, Lala Zhao, Xucong Yan, and Yong Shi. "Topological Design Methods for Mecanum Wheel Configurations of an Omnidirectional Mobile Robot." Symmetry 11, no. 10 (October 10, 2019): 1268. http://dx.doi.org/10.3390/sym11101268.

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A simple and efficient bottom-roller axle intersections approach for judging the omnidirectional mobility of the Mecanum wheel configuration is proposed and proved theoretically. Based on this approach, a sub-configuration judgment method is derived. Using these methods, on the basis of analyzing the possible configurations of three and four Mecanum wheels and existing Mecanum wheel configurations of robots in practical applications, the law determining wheel configuration is elucidated. Then, the topological design methods of the Mecanum wheel configurations are summarized and refined, including the basic configuration array method, multiple wheels replacement method, and combination method. The first two methods can be used to create suitable multiple-Mecanum-wheel configurations for a single mobile robot based on the basic Mecanum wheel configuration. Multiple single robots can be arranged by combination methods including end-to-end connection, side-by-side connection, symmetrical rectangular connection, and distributed combination, and then, the abundant combination configurations of robots can be obtained. Examples of Mecanum wheel configurations design based on a symmetrical four-Mecanum-wheel configuration and three centripetal configurations using these topological design methods are presented. This work can provide methods and a reference for Mecanum wheel configurations design.

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Hao, Le Phuoc, and Ta Quoc Dung. "Applying the contact element for simulation of interaction between drillstring and holewall." Vietnam Journal of Mechanics 25, no. 2 (June 30, 2003): 97–112. http://dx.doi.org/10.15625/0866-7136/25/2/6582.

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The purpose of research is to create a contact element in order to simulate the dynamics contact phenomenon of drillstring and drillhole. The contact element is located at some selected node along the drillstring. In the contact element, not only transverse friction force but also the longitudinal friction forces are taken into account. The element stiffness and damping matrices are derived explicitly. This element is implemented in general and powerful multi-body dynamics analysis software, namely Mecano module of Samcef. Therefore, many computational aspects of the Mecano software, for example the nonlinear beam element, the implicit time integration method, can be directly applied.

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G, Mrs Anusha. "Prototype Model of Forklift with Mecanum Wheel Controlled Using Mobile." INTERANTIONAL JOURNAL OF SCIENTIFIC RESEARCH IN ENGINEERING AND MANAGEMENT 08, no. 04 (April 2, 2024): 1–5. http://dx.doi.org/10.55041/ijsrem29965.

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Industrial forklifts are used to load and unload goods. Electrical forklifts consume less power to drive the vehicle. In crowded spaces with static and/or dynamic obstacles and small corridors, such as industrial floors, warehouses, offices, and hospitals, multidirectional cars could carry out crucial functions. Mecanum wheel-mounted forklifts have seen several designs developed recently to enhance their multidirectional portability and usefulness. In this project, the center of gravity of the forklift is 67mm from the front axle and mecanum wheel diameter is 60mm. The direction of the mecanum wheel is determined by the direction of the leading edge of the roller, if the roller is pointed left then it is a left wheel and if the roller is pointed right then it is a right wheel. The mecanum wheel is a device that can move a vehicle in all directions, including forward, backward, left, right, diagonal, and more. This design has empowered us to create mecanum wheel-based forklift prototype, showcasing the potential for engineering solution. Key Words: Forklift, Mecanum wheel, multidirectional,

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OKADA, Akira. "B2 SAMCEF MECANO for Space Engineering." Proceedings of the Space Engineering Conference 2006.15 (2007): 21–25. http://dx.doi.org/10.1299/jsmesec.2006.15.21.

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Hou, Linfei, Fengyu Zhou, Kiwan Kim, and Liang Zhang. "Practical Model for Energy Consumption Analysis of Omnidirectional Mobile Robot." Sensors 21, no. 5 (March 5, 2021): 1800. http://dx.doi.org/10.3390/s21051800.

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The four-wheeled Mecanum robot is widely used in various industries due to its maneuverability and strong load capacity, which is suitable for performing precise transportation tasks in a narrow environment. While the Mecanum wheel robot has mobility, it also consumes more energy than ordinary robots. The power consumed by the Mecanum wheel mobile robot varies enormously depending on their operating regimes and environments. Therefore, only knowing the working environment of the robot and the accurate power consumption model can we accurately predict the power consumption of the robot. In order to increase the applicable scenarios of energy consumption modeling for Mecanum wheel robots and improve the accuracy of energy consumption modeling, this paper focuses on various factors that affect the energy consumption of the Mecanum wheel robot, such as motor temperature, terrain, the center of gravity position, etc. The model is derived from the kinematic and kinetic model combined with electrical engineering and energy flow principles. The model has been simulated in MATLAB and experimentally validated with the four-wheeled Mecanum robot platform in our lab. Experimental results show that the accuracy of the model reached 95%. The results of energy consumption modeling can help robots save energy by helping them to perform rational path planning and task planning.

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Bae, Jong-Jin, and Namcheol Kang. "Design Optimization of a Mecanum Wheel to Reduce Vertical Vibrations by the Consideration of Equivalent Stiffness." Shock and Vibration 2016 (2016): 1–8. http://dx.doi.org/10.1155/2016/5892784.

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Mecanum wheels are capable of moving a vehicle to any direction instantaneously by the combination of independent wheel rotations. Because the mecanum wheel is composed of a hub and rollers, however, it has unavoidable drawbacks such as vertical and horizontal vibrations due to the sequential contacts between rollers and ground. In order to investigate the dynamic characteristics of a mecanum wheel, we made a prototype and performed experiments to measure the vertical vibrations. Interestingly, it was observed that the vertical accelerations were asymmetric with respect to the average value of signals; the vibration signals of upward and downward directions show quite different shape. This asymmetric phenomenon was confirmed through the dynamic simulations performed by RecurDyn. In addition, the peak-to-peak and RMS values of the displacements and accelerations were calculated to investigate the effects of the curvature of rollers on the vertical vibrations of the vehicle. Furthermore, we proposed a mecanum wheel having a spring to attenuate the vibrations. It was also noted that the significant reduction of the vertical accelerations was observed due to the absence of the spring. Finally, considering the equivalent stiffness of the mecanum wheel for several different fillet radii, we found the optimal geometric design which minimizes the vertical vibration of a mecanum wheel.

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Radkevich, А. А., Wu Xinxin, А. А. Velchenko, and S. A. Pauliukavets. "Mathematical Model of Movement of a Mobile Robot with Omnidirectional Wheels." Doklady BGUIR 22, no. 1 (February 28, 2024): 82–90. http://dx.doi.org/10.35596/1729-7648-2024-22-1-82-90.

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The article discusses the issue of controlling a four-wheeled mobile robot with omnidirectional wheelsof the mecanum type. An analysis of the rotational motion of the omnidirectional mecanum wheel was carriedout, based on its kinematics. For a specific robot with certain overall parameters, a graph of changes in the radiusof the mecanum wheel depending on the angle of its rotation was constructed. Kinematic and dynamic modelsof a mobile four-wheeled robot have been compiled, taking into account its geometric characteristics. The presented expressions are a mathematical description of the behavior of a mobile robot in statics and dynamics. Basedon the obtained models, the principles of operation of the motion control system for a four-wheeled mobile roboton omnidirectional wheels of the mecanum type are formed.

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Xie, Ya, Shao Hua Kang, Ai Rong Wang, and Cheng Yu Yang. "Derivation and Simulation on the Academic Profile of the Mecanum Wheel." Advanced Materials Research 546-547 (July 2012): 125–30. http://dx.doi.org/10.4028/www.scientific.net/amr.546-547.125.

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Mecanum wheel can provide a Omni-directional movement, so to design the academic profile of the Mecanum Wheel become the first problem to be solved. this paper make a projection of the Mecanum wheel to the set of planes that perpendicular to the wheel axes, Derivate the academic profile of the wheel. Use the data to build the model of the wheels. Then import the model to ADAMS to validate the equation we got. The simulation results indicate they have a good Omni-directional mobile performance.

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Kang, Shao Hua, Xue Ling Zhang, and Ya Xie. "Mechanics Analysis of Omni-Directional Mecanum-Wheel Based on FEM." Applied Mechanics and Materials 271-272 (December 2012): 1012–16. http://dx.doi.org/10.4028/www.scientific.net/amm.271-272.1012.

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The Mechanics property is important for Mecanum-wheel structure. According to function and capacity of wheel, the structure of omni-directional Mecanum-wheel is designed and mechanical boundary condition is analyzed on different working status. On the basis of mechanical analysis, the finite element model is established and loads are applied. Strength and fatigue failure life of every parts are calculated respectively under different working conditions. The result shows that the structure and size of Mecanum-wheel is correct and meet the demand of mechanical property.

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Susatyo, Maulana Hakim, and Muhamad Yusvin Mustar. "Implementation of a PI-Controlled Closed-Loop System for Mecanum Wheel Coordination in an Omni-Directional Robot." Journal of Electrical Technology UMY 7, no. 2 (May 21, 2024): 76–81. http://dx.doi.org/10.18196/jet.v7i2.22263.

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The MR CRUSH robot is designed for participation in the 2023 Indonesian Thematic Robot Contest (KRTMI). In the motor part of the MR CRUSH robot, each wheel is designed to rotate independently and using a mecanum wheel system. Mecanum wheels are a type of wheel that has the ability to move in all directions by combining rotational speed and direction. To maximize this capability, the force generated on each mecanum wheel must be the same as set point. One of the influences of the amount of force produced is the mecanum wheel rotation speed. This research aims to implement a closed-loop control system with a Proportional-Integral (PI) controller. By implementing this PI controller, it ensures that the rotation speed of the dc motor corresponds to the set point value given, so that the four dc motors that drive the mecanum wheel will have the same rotation speed. The parameters for the PI controller used in this research are Kp = 0.3 and Ki = 0.08. Based on the results, the closed-loop control system with the designed PI controller produces constant motor rotation speed at the set point with 0 steady-state error.

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Giurgiu, Tiberiu, Ghiță Bârsan, Ioan Virca, and Cristina Pupăză. "Mecanum Wheeled Platforms for Special Applications." International conference KNOWLEDGE-BASED ORGANIZATION 28, no. 3 (June 1, 2022): 44–51. http://dx.doi.org/10.2478/kbo-2022-0086.

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Abstract This paper presents a literature review and perspectives regarding the utilization of Mecanum wheels as running systems for platforms and robots designed for diverse special applications. A mobile platform equipped with four or more Mecanum wheels has the capability of moving with fast reactions in any direction without needing a special steering system having so the property of being omnidirectional. Therefore, one of the greatest advantages of such vehicles is to be highly maneuverable which makes them suitable fortight environments such as industrial plants or warehouses where they are usually implemented as autonomous guided vehicles. However, the utilization of Mecanum wheels as part of running systems for different types of platforms is and will be more and more applicable for special applications in domains such as military, medical, civil engineering, or even space exploration. This paper aims to highlight the applicability of Mecanum wheels in special domains based on the advantages and disadvantages of such running systems.

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Quispe M, Justiniano. "Mecano-Síntesis de la Aleación Fe-Cu." Revista de Investigación de Física 2, no. 01-02 (July 30, 1999): 1–7. http://dx.doi.org/10.15381/rif.v2i01.8568.

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El objetivo principal del presente trabajo es la producción de la aleación Fe-Cu dentro de un rango de composición donde el diagrama de fase de equilibrio reporta a este sistema como insoluble. Con tal finalidad se hace uso de una técnica conocida como mecano-síntesis , , la cual nos permite extender la solubilidad del sistema a través de soluciones sólidas cristalinas desordenadas o amorfas Brevemente, se puede decir que la mecano-síntesis es una técnica basada en reacciones isotérmicas en el estado sólido, las cuales se caracterizan fundamentalmente por desarrollarse fuera de los elevados puntos de fusión de los elementos metálicos reactantes. Por lo general, estas reacciones sólidas son inducidas en las interfaces y contornos de granos que se generan al interior de las partículas de una mezcla inicial de polvos metálicos como consecuencia de un tratamiento mecánico, donde se transfiere energía de un sistema mecánico de bolas de alta energía hacia este material. En nuestro caso la mezcla inicial estuvo compuesta de 50 % at. de Cu (FCC) y 50 % at. de Fe (BCC). Asimismo, es bien conocido que el sistema Fe-Cu exhibe una entalpía de formación positiva en la aleación respecto de la simple mezcla. Por otra parte, el sistema Fe-Cu posee una solubilidad limitada. Es, en este sentido, que la formación de la aleación será discutida en relación a las condiciones termodinámicas locales sobre las diferentes interfaces y contornos de granos dentro de las partículas. La evolución de la micro-estructura interna de los granos durante el proceso de mecano-síntesis fue estudiada a través de la espectroscopia Mössbauer del 57Fe (MS) y análisis por difracción de rayos X (XRD). Los resultados muestran que el tamaño de los cristalitos es reducido hasta el orden nanométrico después de cierto tiempo de aplicación del tratamiento mecánico sobre la mezcla inicial. En efecto, para nuestro sistema bajo estudio, Fe0.50 Cu0.50, se observó una expansión de la red del orden de 0.87 % cuando el tamaño del cristalito se reduce a dimensiones de alrededor de 12 nm. Así mismo, se observa que después de 16 horas de aplicación del tratamiento mecánico, las muestras presentan otra bien definida estructura cristalina FCC diferente de aquellas que corresponden a los metales puros iniciales. También se observó que la estructura local alrededor de los sitios de Fe en la aleación es diferente de la estructura local del Fe metálico inicial. La reducción en el tamaño del cristalito y la expansión de la red podrían estar asociados a la fuerza motora (en inglés "driving force") responsable por la formación de la aleación. Finalmente, la estabilidad termodinámica del polvo es analizada.

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Huang, Hsu-Chih, Chin-Wang Tao, Chen-Chia Chuang, and Jing-Jun Xu. "FPGA-Based Mechatronic Design and Real-Time Fuzzy Control with Computational Intelligence Optimization for Omni-Mecanum-Wheeled Autonomous Vehicles." Electronics 8, no. 11 (November 11, 2019): 1328. http://dx.doi.org/10.3390/electronics8111328.

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This study presents a field-programmable gate array (FPGA)-based mechatronic design and real-time fuzzy control method with computational intelligence optimization for omni-Mecanum-wheeled autonomous vehicles. With the advantages of cuckoo search (CS), an evolutionary CS-based fuzzy system is proposed, called CS-fuzzy. The CS’s computational intelligence was employed to optimize the structure of fuzzy systems. The proposed CS-fuzzy computing scheme was then applied to design an optimal real-time control method for omni-Mecanum-wheeled autonomous vehicles with four wheels. Both vehicle model and CS-fuzzy optimization are considered to achieve intelligent tracking control of Mecanum mobile vehicles. The control parameters of the Mecanum fuzzy controller are online-adjusted to provide real-time capability. This methodology outperforms the traditional offline-tuned controllers without computational intelligences in terms of real-time control, performance, intelligent control and evolutionary optimization. The mechatronic design of the experimental CS-fuzzy based autonomous mobile vehicle was developed using FPGA realization. Some experimental results and comparative analysis are discussed to examine the effectiveness, performance, and merit of the proposed methods against other existing approaches.

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Pankrateva, G. V., A. E. Mordin, and G. R. Saypulaev. "Analysis of Positioning Accuracy in Case of Design Errors in the Installation of Mecanum Wheels of the Mobile Platform." Advanced Engineering Research (Rostov-on-Don) 23, no. 4 (December 27, 2023): 356–64. http://dx.doi.org/10.23947/2687-1653-2023-23-4-356-364.

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Introduction. Mobile robots capable of omnidirectional movement are widely used in various fields of human activity. To provide high accuracy of positioning of omnidirectional platforms with mecanum wheels, it is required to develop their detailed mathematical models used in the construction of a motion control system. Due to the complicated design of the mecanum wheels, various errors may occur during the construction of omnidirectional platforms, including the error of installing such wheels on the platform. Its effect on the accuracy of the platform movement has not been studied before. This work aims at assessing the positioning errors that arise due to the presence of design errors in the installation of mecanum wheels, and analyzing the effect of these errors on the accuracy of program motion testing when using control at the kinematic level.Materials and Methods. The analysis of positioning accuracy was based on mathematical modeling of the platform kinematics, taking into account structural errors in the installation of mecanum wheels. To describe the relationship between the angular speeds of rotation of the wheels and the speeds of the platform, the conditions of nonslip of the contact points on the support surface were used. Numerical calculations were carried out in the Wolfram Mathematica package.Results. A formula was obtained for estimating errors in platform pseudovelocities under program control formed at the kinematic level. The estimation of the errors of the platform speeds for simple movements was carried out. According to the calculation results, it has been shown that the speed errors are significant for robots with mecanum wheels operating autonomously.Discussion and Conclusion. The calculation results demonstrated the significant impact of wheel installation errors on the positioning accuracy of the mecanum-platform, and confirmed the need to take into account these design errors when creating autonomous mecanum-platforms. The constructed model of the robot's kinematics makes it possible to predict errors in platform speeds that arise under program control, as well as deviations of the coordinates of the geometric center of the platform from the program motion. The proposed kinematic model can be used to improve the positioning accuracy through forming a platform motion control that compensates for the influence of wheel installation errors.

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Zhao, Jianwei, Yuanshuang Liu, Yuanyuan Qu, Feng Bian, and Yu Ban. "Model and simulation of four-wheeled robot based on Mecanum wheel." International Journal of Modeling, Simulation, and Scientific Computing 08, no. 02 (October 24, 2016): 1750015. http://dx.doi.org/10.1142/s1793962317500155.

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Based on Mecanum wheels and “[Formula: see text]”-shaped planetary wheels, we combine these two kinds of wheels’ respective motion principle with their advantages to design a new type of four-wheeled robot: install the Mecanum wheels at the end of “[Formula: see text]”-shaped planetary wheel group. The wheel designed based on Mecanum wheels and “[Formula: see text]”-shaped planetary wheel can adapt to the complex terrain such as stairs, steps, and at the same time it can achieve the rotation of the whole body in a limited space. This paper studies the adaptability of the four-wheeled robot to the stairs, analyzing and calculating the parameters of the four-wheeled robot and the stairs.

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Dim, Nguyễn Vôn, and Trần Xuân Trọng. "THIẾT KẾ VÀ CHẾ TẠO BÁNH XE ĐA HƯỚNG MECANUM BẰNG CÔNG NGHỆ IN 3D ỨNG DỤNG CHO ROBOT TỰ HÀNH." TNU Journal of Science and Technology 227, no. 08 (May 19, 2022): 269–75. http://dx.doi.org/10.34238/tnu-jst.5716.

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Công nghệ in 3D là một công nghệ sản xuất tiên tiến được sử dụng để chế tạo các chi tiết bằng cách xếp từng lớp vật liệu trực tiếp từ dữ liệu thiết kế CAD (Computer Aided Design). Trong đó, phương pháp FDM (Fused Deposition Modeling) là một trong những phương pháp phổ biến nhất cho các ứng dụng kỹ thuật. Mặt khác, các robot tự hành di chuyển đa hướng bằng bánh xe mecanum đã được sử dụng rộng rãi trong sản xuất công nghiệp, lưu trữ, vận chuyển và các dịch vụ xã hội. Tuy nhiên, nhược điểm của bánh xe đa hướng mecanum là kết cấu thiết kế phức tạp, nhiều chi tiết riêng lẻ dẫn đến khó chế tạo. Nội dung bài báo trình bày về đề xuất thiết kế cho chế tạo bằng in 3D (Design for Additive Manufacturing) đối với bánh xe đa hướng mecanum hoàn toàn bằng công nghệ in 3D FDM, sử dụng vật liệu chế tạo là nhựa PLA. Bánh xe được thiết kế bằng phương pháp mô hình hóa, mô phỏng trên máy tính kết hợp phương pháp thực nghiệm. Sau đó, bánh xe mecanum đã chế tạo bằng in 3D được thử nghiệm ứng dụng cho robot tự hành. Kết quả thực nghiệm khi dùng bánh xe mecanum in 3D đáp ứng yêu cầu di chuyển linh hoạt và hiệu quả khi đi theo các quỹ đạo phức tạp.

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Oliveira, Zilda Najjar Prado de, Alexandre M. Périgo, Lígia M. I. Fukumori, and Valéria Aoki. "Imunomapeamento nas epidermólises bolhosas hereditárias." Anais Brasileiros de Dermatologia 85, no. 6 (December 2010): 856–61. http://dx.doi.org/10.1590/s0365-05962010000600012.

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O imunomapeamento, uma técnica de imunofluorescência, é o método atual mais utilizado para o diagnóstico laboratorial e a diferenciação dos principais tipos de epidermólise bolhosa hereditária, uma vez que determina o plano de clivagem na junção dermo-epidérmica das doenças mecano-bolhosas.

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Yoon, Sang Won, Seong-Bae Park, and Jong Shik Kim. "Kalman Filter Sensor Fusion for Mecanum Wheeled Automated Guided Vehicle Localization." Journal of Sensors 2015 (2015): 1–7. http://dx.doi.org/10.1155/2015/347379.

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The Mecanum automated guided vehicle (AGV), which can move in any direction by using a special wheel structure with a LIM-wheel and a diagonally positioned roller, holds considerable promise for the field of industrial electronics. A conventional method for Mecanum AGV localization has certain limitations, such as slip phenomena, because there are variations in the surface of the road and ground friction. Therefore, precise localization is a very important issue for the inevitable slip phenomenon situation. So a sensor fusion technique is developed to cope with this drawback by using the Kalman filter. ENCODER and StarGazer were used for sensor fusion. StarGazer is a position sensor for an image recognition device and always generates some errors due to the limitations of the image recognition device. ENCODER has also errors accumulating over time. On the other hand, there are no moving errors. In this study, we developed a Mecanum AGV prototype system and showed by simulation that we can eliminate the disadvantages of each sensor. We obtained the precise localization of the Mecanum AGV in a slip phenomenon situation via sensor fusion using a Kalman filter.

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Thai, Nguyen Hong, Trinh Thi Khanh Ly, and Le Quoc Dzung. "Trajectory tracking control for mecanum wheel mobile robot by time-varying parameter PID controller." Bulletin of Electrical Engineering and Informatics 11, no. 4 (August 1, 2022): 1902–10. http://dx.doi.org/10.11591/eei.v11i4.3712.

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This paper presents the design method a proportional integral derivative (PID) controller with time-varying parameters for trajectory tracking of a mecanum-wheeled robot with a minor error. First, a nonlinear kinematic error model of the robot is established and linearized around the working point. Then a PID controller with time-varying parameters is designed based on this linear model. The coefficients of KP, KI, and KD control parameters are determined by trial and error technique to ensure that the robot moves along the desired trajectory with minimal error. A platform mecanum-wheeled mobile robot has been designed and manufactured to demonstrate the proposed controller. Simulation and experimental results are presented to verify the effective and accuracy of the proposed controller. It shows that can apply this research to control of a four mecanum-wheeled mobile robot in logistics services in practice.

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Wang, Mingming, Yingying Zhu, Lei Zhang, Lu Wang, Xuanbo Wei, and Jing Fang. "An Adaptive Robust Controller for a Mobile Robot Driven by Mecanum Wheels." Xibei Gongye Daxue Xuebao/Journal of Northwestern Polytechnical University 36, no. 4 (August 2018): 627–35. http://dx.doi.org/10.1051/jnwpu/20183640627.

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An adaptive sliding mode controller was designed for a mobile robot driven by four mecanum wheels.The original contribution of this paper is employing adaptive robust controller to mecanum wheels driven mobile robot for obtaining better tracking and robustness performance.To complete the design of the controller, the kinematic model of the mobile robot driven by mecanum wheels was firstly proposed.An adaptive robust controller was designed subsequently.A sliding surface was designed in Proportional-Differential-Integral form, which satisfied the robustness requirements of the system.Besides, a reaching law which has quick convergence was introduced, which reduced the time consumed by the setting parameters and resisting external disturbance.The controller was demonstrated in the presence of impulsive disturbance and sinusoidal signal disturbance, which proved the superiority of the proposed controller.Finally, an experimental verification of trajectory tracking was implemented to verify the practicability and effectiveness.

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Huang, Hsu-Chih, and Jing-Jun Xu. "Evolutionary Machine Learning for Optimal Polar-Space Fuzzy Control of Cyber-Physical Mecanum Vehicles." Electronics 9, no. 11 (November 18, 2020): 1945. http://dx.doi.org/10.3390/electronics9111945.

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This paper contributes to the development of evolutionary machine learning (EML) for optimal polar-space fuzzy control of cyber-physical Mecanum vehicles using the flower pollination algorithm (FPA). The metaheuristic FPA is utilized to design optimal fuzzy systems, called FPA-fuzzy. In this hybrid computation, both the fuzzy structure and the number of IF–THEN rules are optimized through the FPA evolutionary process. This approach overcomes the drawback of the structure tuning problem in conventional fuzzy systems. After deriving the polar-space kinematics model of Mecanum vehicles, an optimal EML FPA-fuzzy online control scheme is synthesized, and the global stability is proven via Lyapunov theory. An embedded cyber-physical robotic system is then constructed using the typical 5C strategy. The proposed FPA-fuzzy computation collaborates with the advanced sensors and actuators of Mecanum vehicles to design a cyber-physical robotic system. Compared with conventional Cartesian-space control methods, the proposed EML FPA-fuzzy has the advantages of metaheuristics, fuzzy online control, and cyber-physical system design in polar coordinates. Finally, the mechatronic design and experimental setup of a Mecanum vehicle cyber-physical system is constructed. Through experimental results and comparative works, the effectiveness and merit of the proposed methods are validated. The proposed EML FPA-fuzzy control approach has theoretical and practice significance in terms of its real-time capability, online parameter tuning, convergent behavior, and hybrid artificial intelligence.

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Xie, Li, Christian Henkel, Karl Stol, and Weiliang Xu. "Power-minimization and energy-reduction autonomous navigation of an omnidirectional Mecanum robot via the dynamic window approach local trajectory planning." International Journal of Advanced Robotic Systems 15, no. 1 (January 1, 2018): 172988141875456. http://dx.doi.org/10.1177/1729881418754563.

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To improve the energy efficiency of the Mecanum wheel, this article extends the dynamic window approach by adding a new energy-related criterion for minimizing the power consumption of autonomous mobile robots. The energy consumption of the Mecanum robot is first modeled by considering major factors. Then, the model is utilized in the extended dynamic window approach–based local trajectory planner to additionally evaluate the omnidirectional velocities of the robot. Based on the new trajectory planning objective that minimizes power consumption, energy-reduction autonomous navigation is proposed via the combinational cost objectives of low power consumption and high speed. Comprehensive experiments are performed in various autonomous navigation task scenarios, to validate the energy consumption model and to show the effectiveness of the proposed technique in minimizing the power consumption and reducing the energy consumption. It is observed that the technique effectively takes advantage of the Mecanum robot’s redundant maneuverability, can cope with any type of path and is able to fulfil online obstacle avoidance.

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Afolabi, Joseph, and Mr Arumugam Ganesan. "Intelligently Controlled Spy Vehicle." Irish Interdisciplinary Journal of Science & Research 06, no. 04 (2022): 01–13. http://dx.doi.org/10.46759/iijsr.2022.6401.

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This venture expects to construct and program a multi-layered wisely control spy vehicle utilizing collecting strategies and python Programming. The Robot has a cutting-edge regulator that performs concurrent undertakings like low inertness top quality imaging and simulated intelligence figuring. Each wheel utilized in the Robot is a Mecanum wheel made of 12 rollers. The Mecanum wheel is an omnidirectional wheel intended for land vehicles to work toward any path. Contrasted with slip steers, Mecanum wheels have no extra erosion while going because of the more modest contact region. This Robot likewise comprises of a first-individual (FPV) camera, unequivocally constrained by the gimbal's yaw and pitch development. The gimbal's yaw uses a battery-worked gadget to address unexpected wobbles in the FPV Camera during movement with the assistance of engines and sensors. As found in the Figure underneath, the Robot likewise comprises of an improvised blaster, utilizing Drove lights to frame.

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Zhao, Fanguang, Congying Chen, Xiaodong Chen, Mingyang Zhang, Jie Yin, and Ziqiong Ren. "Extensible Mecanum wheel intelligent car." Journal of Physics: Conference Series 2396, no. 1 (December 1, 2022): 012044. http://dx.doi.org/10.1088/1742-6596/2396/1/012044.

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Abstract Today, with the rapid development of robots, intelligent robots can bring us a lot of convenience in all aspects of life. Dangerous and difficult operations can make machines that can adapt to the changes in work tasks and working environments replace manual work. At the same time, they can also ensure personal safety, reduce labor intensity, improve labor productivity, and reduce production costs. As an intelligent mobile robot driven by multiple wheels, the intelligent car has the advantages of small size, lightweight, low cost, and convenient operation. When encountering complex terrain, it is particularly important to study the environmental adaptability and obstacle-surmounting ability of the car. The key technologies of terrain adaptability and obstacle surmounting include obstacle identification, azimuth and distance measurement, and wheel structure design.

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Llamas Roig, Vicente. "Identidad de los indiscernibles y simetría de intercambio bosónico." Eikasía Revista de Filosofía, no. 118 (November 3, 2023): 87–108. http://dx.doi.org/10.57027/eikasia.118.688.

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Nuevo examen del problema leibniziano de los indiscernibilia en contexto cuántico. La simetría por intercambio de la función mecano-cuántica de onda se perfila propiedad relacional de disposición que encuadra la cuestión en el ámbito epistemológico. El ensayo propone una solución dual para la identidad en universos monádico y nouménico, sobre las hipótesis metafísicas de un espacio-tiempo absoluto o sustantivado.

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De la Roca-Chiapas, José María, Teodoro Córdova-Fraga, Teodoro Córdova-Fraga, Gloria Barbosa Sabanero, Gloria Barbosa Sabanero, J. Humberto Macías de la Cruz, J. Humberto Macías de la Cruz, et al. "Aplicaciones Interdisciplinarias entre Física, Medicina y Psicología." Acta Universitaria 19 (September 1, 2009): 71–75. http://dx.doi.org/10.15174/au.2009.105.

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El presente trabajo muestra dos líneas de investigación que vinculan a la física, la medicina y la psicología. La primera consiste en la Mecano-magnetogastrografía que sirve para medirel vaciamiento gástrico así como las contracciones peristálticas las cuales se evaluaron junto con estados emocionales para conocer la influencia del estrés, ansiedad y depresión en las respuestas fisiológicas. La segunda consiste en la psicomagnetobiología como un modelo de inducción de cáncer y de estrés que permiten comparar marcadores bioquímicos, caracterización espectroscópica y obtener imágenes a través de un escáner magnético, la cual podría utilizarse en el diagnóstico y el uso de la hipertermia como tratamiento del cáncer. La Mecano-magnetogastrografía es una técnica útil para medir el vaciado gástrico, que no es invasiva, no usa radiación ionizante y demuestra que a través de la lectura de los campos magnéticos del trazador magnético ingerido se puede obtener información sobre el vaciado gástrico y contracciones peristálticas presentando resultados reproducibles. En cuanto a la línea de investigación que llamamos psicomagnetobiología, se ha usado la inducción de cáncer con N-metil-N-nitrosourea, resultando con cáncer mamario el 58% de las ratas.

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GERADIN, M. "MECANO: A Finite Element Software for Flexible Multibody Analysis." Vehicle System Dynamics 22, sup1 (January 1993): 87–90. http://dx.doi.org/10.1080/00423119308969475.

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LOPEZ MARTINEZ, JUAN. "MECHANICAL RECYCLING OF WASTE PLASTICS: ACHIEVEMENTS AND CHALLENGES." DYNA 96, no. 4 (July 1, 2021): 338–39. http://dx.doi.org/10.6036/10251.

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Nowadays, the use of plastic materials is being questioned by society due to the impact of their waste on the environment. The accumulated generation of plastic waste in the period 1950-2015 is estimated to be 381 billion tons.

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Olivier Akansie, Kouame Yann, Rajashekhar C. Biradar, Rajendra Karthik, and Geetha D. Devanagavi. "A triangle decomposition method for the mobility control of mecanum wheel-based robots." IAES International Journal of Artificial Intelligence (IJ-AI) 13, no. 2 (June 1, 2024): 1326. http://dx.doi.org/10.11591/ijai.v13.i2.pp1326-1338.

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Mobile robots are used in a variety of applications including research, education, healthcare, customer service, security and so on. Based upon the application, the robots employ different locomotion systems for their mobility. When it comes to rolling locomotion, the wheels used to provide mobility to robots can be categorized as: tracks, omnidirectional wheels, and unidirectional wheels with a steering system. The ability of omnidirectional wheels to drive machines in small spaces makes them interesting to use. Among the types of omnidirectional wheels, mecanum wheels are widely used due to their inherent benefits. With the right control strategy, robots equipped with mecanum wheels can move freely, in all possible directions. In this study, a triangle decomposition approach is employed for controlling omnidirectional mecanum wheel-based robots. The method consists of breaking down any path into a set of linear motions that can be horizontal, vertical, or oblique. Furthermore, the oblique paths are divided into smaller segments that can be resolved into a horizontal and vertical component in a right-angle triangle. The suggested control method is tested and proved on a simple scenario using Webots simulation software.

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Tsung, Tsing Tshih, Yu Chieh Chang, and Tien Li Chen. "Using LOG Method to Measure Errors of Mobile Robots' Location." Applied Mechanics and Materials 339 (July 2013): 205–10. http://dx.doi.org/10.4028/www.scientific.net/amm.339.205.

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This paper presents an innovative Method to Measure Errors Of Mobile Robots Location. The innovative method is composed of a Laser pointer with Optical cross mark and a Grid paper (LOG method). The errors of a mobile robots location are included the precision and accuracy of the translation and rotation. Using the measured errors, the performance of a mobile robot can be evaluated. The Mecanum wheel is a conventional wheel with a series of rollers attached to its circumference and can move in any direction. In this research, the three encoders are used on a mobile robot with three Mecanum wheels. The three Mecanum wheels are mounted on the robot round frame as a base of the moving platform. Mecanum wheels are independently powered using three units of precisian gear DC motors and the wheel/motor assemblies were mounted directly to the robot round frame. The slip occurs always by the rollers attached to conventional wheel's circumference. The force modeling and the innovative evaluating system for the precision and accuracy of the translation and rotation is focused on this research. By using a laser pointer with cross optical mark and a sheet of mm grid paper on the mobile robot, a fast and stable testing set up for the precision and accuracy of the translation and rotation is build. Through LOG method, and according certain testing process the precision and accuracy of the translation and rotation of a mobile robot can be fast evaluated and analyzed, respectively. The experiment result shows that the mobile robot moves sideways the distance from 0.25m to1.5m at the speed 1m/s fast, stable and easily to finish. The error of translation and rotation of the mobile robot can be fast determined respectively. And the performance of a mobile robot can be fast evaluated by every run at the stop localization immediately.

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HOSOTANI, Kazunori, Kiyonari TAKUSHI, and Yusuke FUJIHARA. "Amphibious Vehicle with Mecanum Wheel Propulsor." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2017 (2017): 2A1—A11. http://dx.doi.org/10.1299/jsmermd.2017.2a1-a11.

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García, Francisco José, Juan-Antonio Barras, Miguel Ángel Laguna, and Jos´e Manuel Marqués. "Product line variability support by FORM and Mecano model integration." ACM SIGSOFT Software Engineering Notes 27, no. 1 (January 2002): 35–38. http://dx.doi.org/10.1145/566493.1148027.

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Fouz-Hernández, Santiago. "ME CUESTA TANTO OLVIDARTE: MECANO AND THEMOVIDAREMIXED, REVISITED AND REPACKAGED." Journal of Spanish Cultural Studies 10, no. 2 (June 2009): 167–87. http://dx.doi.org/10.1080/14636200902990695.

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Wang, Ban, Wei Hua Zhou, Ji Feng Guo, and Guan Shuai Jia. "Real-Time Customization and Motion Simulation of the Omnidirectional Wheelchair Based on VRML." Applied Mechanics and Materials 143-144 (December 2011): 885–89. http://dx.doi.org/10.4028/www.scientific.net/amm.143-144.885.

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An omnidirectional wheelchair based on Mecanum wheel was introduced. Firstly, the motion principles of the Mecanum wheel were illustrated, and then VRML was made use of to make the omnidirectional wheelchair real-time customization and motion simulation come ture, in which the parts' color can be changed and so the components replaced via the customization panel, and also many motion forms such as walking straightly, crossly, bias or originally can be realized via the simulation panell. In this way, clients can not only take part in the design for the wheelchair, getting a satisfied wheelchair but also get a deeper and more vivid cognition about the special motion functions of the wheelchair.

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Wu, Xu Xin, Xu Long Zhang, Huai Dong Zhou, and Wu Sheng Chou. "Modeling and Simulation of Omni-Directional Mobile Robot with Mecanum Wheel." Applied Mechanics and Materials 624 (August 2014): 417–23. http://dx.doi.org/10.4028/www.scientific.net/amm.624.417.

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In this paper, an omni-directional mobile robot with mecanum wheel was designed. Based on mathematical modeling theory and the virtual prototype software called Adams, the mathematical model of mobile robot was built and the kinetic characteristic was simulated. So we can ensure that the mobile robot with mecanum wheel has omni-directional movement characteristic. The reliability of the mathematical model has been verified through the comparision of the the mathematical calculation and simulation result. At the same time a new method was put forward to ensure all the mobile platform wheels can fully contact with the ground when running on the uneven road surface. Then the stability of the motion control system has also been improved.

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Zhang, Chenghanyu, and Jie Hu. "Intelligent Handling Robot Based on Mecanum Wheel." Highlights in Science, Engineering and Technology 62 (July 27, 2023): 211–16. http://dx.doi.org/10.54097/hset.v62i.10445.

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This paper proposes an intelligent handling robot based on Mecanum wheel, which can be set to recognize and handle the goods in the inherently known site, and can be adapted to the logistics sorting and other scenarios. The robot to NXP's RT1064 microcontroller as the main control, the use of RT-Thread embedded system development, the Mecanum wheel as a framework, the independent construction of the car model structure, equipped with a Raspberry Pi and robotic arm structure, as well as the MT9V032 total drilling wind camera to build the hardware circuit. The robot can recognize the position of the handling object through the off-site camera, then the upper computer for path planning, through the PID parameter adjustment and vehicle attitude solving to control the movement of the handling robot, to reach the handling location and then by the total drilling wind camera for detailed position adjustment. The robot equipped with Openart mini can recognize the type of objects to be handled, pick them up and place them on the pallet through robotic arm attitude solving, and correct the deviation through remote manual control, and finally realize fast omni-directional handling through Mecanum wheels to deliver the objects to the end point.

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41

Nguyen, Tri Dung, Duy Phuong Dinh, and Trung Hao Tran. "Kinematic Modeling and Stable Control Law Designing for Four Mecanum Wheeled Mobile Robot Platform Based on Lyapunov Stability Criterion." Journal of Technical Education Science, no. 79 (October 28, 2023): 65–73. http://dx.doi.org/10.54644/jte.79.2023.1437.

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Transportation in warehouses and production workshops is a matter of urgency today. Most warehouses arrange routes for circulation along the shelves, transportation vehicles will move on this road to perform the task of exporting or importing goods. Routes will be arranged to move in one direction because vehicles do not have enough space to turn around in cramped warehouses. This causes many difficulties in planning the trajectory for transportation vehicles, especially self-propelled vehicles. In order to have an appropriate transportation plan, it is necessary to solve many problems, including: reasonable transport equipment, sufficient number of devices, optimal route layout, algorithm of operation center for Positioning and Navigation of transportation equipment,... This study proposes a method for transportation using an omnidirectional automated guided vehicle (AGV). The AGV's omnidirectional mobility is supported by the mecanum wheels. This study consists of two parts, the first part focuses on kinematic modeling for mecanum wheels and extends to robot’s platform using four mecanum wheels. Part two proposes a diagram to calculate the errors of the robot compared to a reference tracking line, design a control law based on the Lyapunov stability criterion. The stability of the control law is verified and confirmed by simulation on MATLAB environment.

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42

Hendzel, Z., and Ł. Rykała. "Modelling of Dynamics of a Wheeled Mobile Robot with Mecanum Wheels with the use of Lagrange Equations of the Second Kind." International Journal of Applied Mechanics and Engineering 22, no. 1 (February 1, 2017): 81–99. http://dx.doi.org/10.1515/ijame-2017-0005.

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Abstract The work presents the dynamic equations of motion of a wheeled mobile robot with mecanum wheels derived with the use of Lagrange equations of the second kind. Mecanum wheels are a new type of wheels used in wheeled mobile robots and they consist of freely rotating rollers attached to the circumference of the wheels. In order to derive dynamic equations of motion of a wheeled mobile robot, the kinetic energy of the system is determined, as well as the generalised forces affecting the system. The resulting mathematical model of a wheeled mobile robot was generated with the use of Maple V software. The results of a solution of inverse and forward problems of dynamics of the discussed object are also published.

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Luna-Aguilar, Noé Moisés, Pedro Gasga-García, Samuel Gómez-Peñate, Francisco Ronay López-Estrada, and Ildeberto Santos-Ruiz. "Estimación de fallas en actuadores de un robot móvil con ruedas mecanum." Pädi Boletín Científico de Ciencias Básicas e Ingenierías del ICBI 12, Especial2 (April 22, 2024): 135–41. http://dx.doi.org/10.29057/icbi.v12iespecial2.12363.

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En este artículo presenta un observador proporcional integral convexo (PIC) para la estimación de fallas en actuadores en un robot móvil con ruedas mecanum. Mediante la técnica del sector no lineal, se desarrolla un modelo convexo con estructura producto tensor el cual proporciona mayor flexibilidad en la solución de las ganancias del observador. Para las condiciones de estabilidad del error de estimación, se utiliza el método directo de Lyapunov, dando condiciones suficientes a través de un conjunto de desigualdades lineales matriciales (LMIs) que garantizan la convergencia asintótica del estado y fallas estimados al vector de estado y fallas del sistema. Finalmente, se evalúan los resultados a nivel simulación con base al modelo no lineal de un robot móvil con ruedas mecanum.

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Chotikunnan, Rawiphon, Phichitphon Chotikunnan, Nuntachai Thongpance, Tasawan Puttasakul, Yutthana Pititheeraphab, and Manas Sangworasil. "Application of PID Control System in Mecanum Wheelchair." International Journal of Membrane Science and Technology 10, no. 3 (August 12, 2023): 3519–29. http://dx.doi.org/10.15379/ijmst.v10i3.3395.

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This research centers on the design and implementation of a control system for an electric wheelchair equipped with Mecanum wheels. The study details a comprehensive research methodology starting with the creation of a block diagram to guide system design, hardware selection, and overall implementation. The electric wheelchair system incorporates power resources, input devices, and energy output mechanisms, utilizing a 24 VDC battery and a joystick with a 10K ohm potentiometer connected to an Arduino Due microcontroller. The operational workflow of the system is defined, enabling the wheelchair to respond to joystick commands for forward, left turn, right turn, and other movements. A PID control system is employed to regulate motor movement, enhancing control precision. The Cohen-Coon tuning method is used to determine the PID controller's gain, ensuring efficient closed-loop control. Results from PID controller experiments under P control and PD control are presented, demonstrating the system's responses for different gain values. Optimal performance is observed with a Kp value of 80 and Kd value of 1.2, showcasing improved response speed, reduced rise time, enhanced setting time, and lower percent overshoot. In conclusion, the combined proportional and derivative control system, specifically with Kp = 80 and Kd = 1.2, proves to be effective in enhancing the Mecanum wheelchair's performance. This study provides valuable insights into precise parameter adjustments for optimal control in Mecanum wheelchair applications.

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Zhang, Ying, and Shengli Ge. "Analysis of the motion characteristics of Marine Mecanum transport platform." MATEC Web of Conferences 232 (2018): 04006. http://dx.doi.org/10.1051/matecconf/201823204006.

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This paper analyzes the shortage of unmanned systems in the traditional operation mode from the operational requirement of future war to unmanned systems, and puts forward the ship Mecanum transport platform.

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Zhang, Liang, Jongwon Kim, and Jie Sun. "Energy Modeling and Experimental Validation of Four-Wheel Mecanum Mobile Robots for Energy-Optimal Motion Control." Symmetry 11, no. 11 (November 5, 2019): 1372. http://dx.doi.org/10.3390/sym11111372.

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Four-wheel Mecanum mobile robots (FWMRs) are widely used in transportation because of their omnidirectional mobility. However, the FWMR trades off energy efficiency for flexibility. To efficiently predict the energy consumption of the robot movement processes, this paper proposes a power consumption model for the omnidirectional movement of an FWMR. A power consumption model is of great significance for reducing the power consumption, motion control, and path planning of robots. However, FWMRs are highly maneuverable, meaning their control is complicated and their energy modeling is extremely complex. The speed, distance, path, and power consumption of the robot can vary greatly depending on the control method. This energy model was mathematically implemented in MATLAB and validated by our laboratory’s Mecanum wheel robot. The prediction accuracy of the model was over 95% through simulation and experimental verification.

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Lee, Howon, and Jangmyung Lee. "Optimal Control of an Inverted Ball-Driving Robot Based upon Slip Patterns." International Journal of Humanoid Robotics 15, no. 02 (April 2018): 1850007. http://dx.doi.org/10.1142/s021984361850007x.

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This paper proposes a precise driving control algorithm by utilizing the slip pattern of an inverted ball-driving robot with Mecanum wheels. The slip pattern of the ball-driving robot has an eight-leaves flower shape, which can be utilized to plan the driving direction of the ball-robot and to minimize the slip. When there exists the slip, the localization of the ball-robot becomes very coarse because of the uncertainties caused by the slip. By minimizing the slip using the analyzed slip pattern, the precise driving of the inverted ball-driving robot with Mecanum wheels can be achieved. Real experiments with a self-manufactured ball-robot have been carried out to show the preciseness of the driving based upon the proposed algorithm compared to the conventional algorithms.

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48

Zeidis, Igor, Klaus Zimmermann, Steffen Greiser, and Julia Marx. "Analysis of Kinematic Constraints in the Linkage Model of a Mecanum-Wheeled Robot and a Trailer with Conventional Wheels." Applied Sciences 13, no. 13 (June 23, 2023): 7449. http://dx.doi.org/10.3390/app13137449.

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Mechanical systems that consist of a four-wheeled or two-wheeled robot with Mecanum wheels and a two-wheeled trailer with conventional wheels are considered. The kinematic characteristics of the mechanical systems under consideration of holonomic and non-holonomic constraints are presented and compared. From this, it is shown that the structure of the kinematic constraint equations for mobile systems with a trailer does not apply to Chaplygin’s dynamic equations. If the mechanical system is not Chaplygin’s system, then the dynamic equations cannot be integrated separately from the equations of kinematic constraints. This is the difference between the kinematic constraint equations for the robot-trailer system and the constraint equations for a single robot with Mecanum wheels. Examples of numerical calculations using the equations of kinematic constraints are given.

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Thongpance, Nuntachai, and Phichitphon Chotikunnan. "Design and Construction of Electric Wheelchair with Mecanum Wheel." Journal of Robotics and Control (JRC) 4, no. 1 (March 8, 2023): 71–82. http://dx.doi.org/10.18196/jrc.v4i1.17095.

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This research aimed to design and construct an electric wheelchair with mecanum wheels that can move in any desired direction and speed based on the joystick controller. This represents a significant improvement over traditional electric wheelchairs, which are limited to linear movement in a single direction. The research contribution of this study is the development of an electric wheelchair with mecanum wheels that allows for improved mobility and independence for wheelchair users. The design includes a joystick controller and the use of an average filter to improve the processing of the joystick. This represents a significant improvement over traditional electric wheelchairs, which are limited to linear movement in a single direction. The design and construction of the electric wheelchair followed the ISO 2570-2555 guidelines and utilized Arduino DUE as the main processor for controlling the rotation of the wheels. The gain of speed and angle of the analog joystick were determined using the technique of finding the resultant vector to control the direction and speed of the wheels. The resulting electric wheelchair had a standard structure and was able to move in the desired direction and speed based on the movement of the joystick controller, demonstrating the success of the design and construction in achieving its objective. In conclusion, the development of joystick control for electric wheelchairs is important and allows for the creation of significantly novel and improved designs such as the electric wheelchair with mecanum wheels presented in this research.

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Saypulaev, G. R., and B. I. Adamov. "Study of the Influence of the Mecanum-Wheel Design and Contact Forces on the Control Accuracy of Mobile Robot-Manipulator KUKA YouBot." Mekhatronika, Avtomatizatsiya, Upravlenie 25, no. 3 (March 5, 2024): 158–64. http://dx.doi.org/10.17587/mau.25.158-164.

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The dynamics and control of the KUKA youBot robot, which consists of a mecanum-platform and a five-axis manipulator fixed on it, is considered. A mathematical model of the dynamics of a mobile robot-manipulator has been developed taking into account the design of the mecanum-wheels, multicomponent contact friction, dynamics of robot drives and the mutual influence of the platform and the manipulator. A robot motion control law is proposed that ensures precise movement of the robot to the required position. According to the results of numerical simulation, the operability of the proposed control is confirmed. At the same time, at the end of the transient process, there are high frequency oscillations in the coordinate of the platform geometric platform, the platform heading angle and the angles of the manipulator links. To reduce amplitude of these high frequency oscillations, it is necessary more accurately compensate for the action of gravitational forces. It is shown that due to the mutual influence of the dynamics of the manipulator on the platform, platform displacements occur relative to the initial position. Based on the simulation results, the influence of the design of the mecanum-wheels, multicomponent contact friction and dynamics robot drives, as well as the mutual influence of the platform and the manipulator on the dynamics of the KUKA youBot robot, is shown. Further research involves a more detailed analysis and synthesis of control algorithms within the framework of theories of optimal or adaptive control.

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Journal articles on the topic 'Mecanoo'

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