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, but 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 appli-cable 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 model is 90% accurate. The results of energy consumption modeling can help robots to save energy by helping them to perform rational path planning and task planning.
翻译:四轮Mecanum机器人由于可操作性和强大的载荷能力而被广泛应用于各行业,这可适用于在狭窄环境中执行精确的运输任务,但是,虽然Mecanum轮式机器人具有机动性,它消耗的能量也多于普通机器人。Mecanum轮式移动机器人所消耗的能量因操作系统和环境的不同而差别很大。因此,只有了解机器人的工作环境以及准确的电能消耗模型,我们才能准确预测机器人的电耗。为了增加用于Mecanum轮式机器人的能源消费模型的可应用假想,并提高能源消费模型的准确性,本文侧重于影响Mecanum轮式机器人能源消耗的各种因素,如运动温度、地形、重力位置中心等。模型来自动动能和动能模型,加上电动能工程和能源流原则。模型已经在MATLAB中模拟,并在实验室的四轮Mecanum机器人平台上进行实验验证。实验结果显示,模型是90%的精确度。规划能源消耗过程的结果是用来规划。通过模型来帮助它们进行能源模拟。