A Study of the Dynamics of an Omnidirectional Platform, Taking into Account the Design of Mecanum Wheels and Multicomponent Contact Friction

The object of research is an omnidirectional mobile platform equipped with four mecanum wheels. The movement of the system on a horizontal plane is considered. The aim of the research is to study the dynamics of the omnidirectional platform, taking into account the design of mecanum wheels: the shape of the rollers and their finite number. The equations of motion of the onmidirectional mobile platform are derived taking into account the real design of the mecanum wheels, their slippage, and the forces of multicomponent contact friction. A comparative analysis of the results of numerical modeling for various models of contact friction is performed.