sapiСистемный анализ и прикладная информатика«System analysis and applied information science»2309-49232414-0481Belarusian National Technical University10.21122/2309-4923-2024-4-47-52sapi-706Research ArticleУправление техническими объектамиManagement of technical objectsПоведение мобильного робота с симметричной структурой колес меканум при перемещении по криволинейной траекторииBehavior of a mobile robot with symmetrical structure of mecanium wheels when movement along a curvolinear trajectoryПавлюковецС. А.PauliukavetsS. A.

Павлюковец Сергей Анатольевич, кандидат технических наук, доцент, доцент кафедры «Электропривод и автоматизация промышленных установок и технологических комплексов» Минск

Siarhei A. Pauliukavets is a PhD, associate professor, head of the Electric drive and automation of industrial installations and technological complexes department Minsk

s.pauliukavets@gmail.comВельченкоА. А.VelchenkoA. A.

Вельченко Анна Александровна, кандидат технических наук, доцент, доцент кафедры «Электропривод и автоматизация промышленных установок и технологических комплексов» Минск

Anna A. Velchenko is a PhD, associate professor, associate professor the Electric drive and automation of industrial installations and technological complexes department Minsk

anna.velchenko@gmail.comРадкевичА. А.RadkevichA. A.

Радкевич Артём Андреевич, магистрант кафедры «Электропривод и автоматизация промышленных установок и технологических комплексов» Минск

Artsiom A. Radkevich is a master student of the Electric drive and automation of industrial installations and technological complexes department Minsk

artsiom.a.radkevich@gmail.comБелорусский национальный технический университетБеларусьBelarusian National Technical UniversityBelarus202430122024044752Copyright © Павлюковец С.А., Вельченко А.А., Радкевич А.А., 20242024Павлюковец С.А., Вельченко А.А., Радкевич А.А.Pauliukavets S.A., Velchenko A.A., Radkevich A.A.Данная работа распространяется под лицензией Creative Commons Attribution 4.0.This work is licensed under a Creative Commons Attribution 4.0 License.https://sapi.bntu.by/jour/article/view/706

Встатьепроведёнсравнительныйанализдвухвариантовсимметричногоразмещениявсенаправленных колёс типа меканум в мобильном роботе. Рассмотрено моделирование поведения мобильного робота при двух симметричных вариантах расположения колёс меканум по криволинейным траекториям в среде MATLAB Simulink. Получены графики траекторий центра робота в осях X–Y при двух вариантах симметричных конфигураций меканум-колёс при перемещении по траекториям лемнискаты, эллипса, гипотрохоиды и трека. Получены зависимости ошибок положения робота в осях X–Y от времени для двух вариантов топологий колёс при перемещении по четырём траекториям. Проанализированы зависимости отклонения угла поворота корпуса робота от времени для двух вариантов топологий колёс при перемещении по четырём криволинейным траекториям. Проведённый сравнительный анализ позволил дать рекомендации о перемещение вдоль эллипса и лемнискаты, которые характеризуется меньшими ошибками положения и отклонением угла поворота по сравнению с более сложными кривыми.

The article presents a comparative analysis of two variants of symmetrical placement of omnidirectional mecanum wheels in a mobile robot. The modeling of the mobile robot behavior with two symmetrical variants of mecanum wheel arrangement along curvilinear trajectories in the MATLAB Simulink environment is considered. Graphs of the robot center trajectories in the X–Y axes are obtained for two variants of symmetrical mecanum wheel configurations when moving along the trajectories of a lemniscate, ellipse, hypotrochoid, and track. Dependences of the robot position errors in the X–Y axes on time are obtained for two variants of wheel topologies when moving along four trajectories. Dependences of the robot body rotation angle deviation on time are analyzed for two variants of wheel topologies when moving along four curvilinear trajectories. The comparative analysis made it possible to give recommendations on movement along the ellipse and lemniscate, which are characterized by smaller position errors and deviations in the rotation angle compared to more complex curves.

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The authors declare that there are no conflicts of interest present.