Influence of the design features of omni-wheeled mobile robots on the possibility of motion without slipping

In this paper, the object of study is a highly maneuverable mobile robot with omni wheels. The paper presents the investigation of the dynamics of omni wheels as part of a mobile platform. The design of a mobile platform with omni wheels is analyzed, taking into account the dynamics of an individual wheel as a part of a mobile platform. The equations of dynamics are presented in the form of Lagrange equations of the second kind with undetermined multipliers. As a result, several conditions of design constraints were identified, under which the omnidirectional motion of the mobile platform is impossible.