Hou Linfei, Zhou Fengyu, Kim Kiwan, Zhang Liang
School of Control Science and Engineering, Shandong University, Jinan 250061, China.
Department of Electrical & Electronics Engineering, Chungnam State University, Cheongyang 33303, Korea.
Sensors (Basel). 2021 Mar 5;21(5):1800. doi: 10.3390/s21051800.
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.
四轮麦克纳姆机器人因其机动性和强大的负载能力而在各个行业中得到广泛应用，适用于在狭窄环境中执行精确的运输任务。虽然麦克纳姆轮机器人具有移动性，但它比普通机器人消耗更多的能量。麦克纳姆轮移动机器人的功耗因其运行状态和环境的不同而有很大差异。因此，只有了解机器人的工作环境和准确的功耗模型，才能准确预测机器人的功耗。为了增加麦克纳姆轮机器人能耗建模的适用场景并提高能耗建模的准确性，本文重点研究了影响麦克纳姆轮机器人能耗的各种因素，如电机温度、地形、重心位置等。该模型是从运动学和动力学模型结合电气工程和能量流原理推导出来的。该模型已在MATLAB中进行了仿真，并在我们实验室的四轮麦克纳姆机器人平台上进行了实验验证。实验结果表明，该模型的准确率达到了95%。能耗建模的结果可以通过帮助机器人进行合理的路径规划和任务规划来帮助它们节约能源。
