为提高常规Mecanum轮全向移动平台的装配简易性以及灵活性,设计一种对称向心布局结构的Mecanum三轮全向移动平台.通过分析Mecanum轮的结构特性和建立Mecanum三轮全向移动平台的运动学模型,给出Mecanum三轮全向移动平台在二维平面上实现全向移动的方法.并对三轮对称向心布局的Mecanum轮全向移动平台和常规四轮对称布局的Mecanum轮全向移动平台进行了运动仿真对比,分析表明Mecanum三轮对称向心布局的全向移动平台具有装配简易、驱动性能更好、灵活性更强、集群效果更好的性能,具有工业物流应用的潜力.%In order,how to improve the assembly simplicity and flexibility of the conventional Mecanum wheel di-rectional mobile platform , it is a kind of Mecanum three wheeled omni-directional mobile platform , which is de-signed with symmetrical and concentric layout structure .Based on the analysis of the structural characteristics of the Mecanum wheel and the kinematic model of the Mecanum with three wheeled omni-directional mobile platform .The method has presented realization the omnidirectional motion of the Mecanum and three wheeled omni -directional mobile platform in the two-dimensional plane .The Mecanum and directional mobile platform Mecanum omnidirec-tional mobile platform on three symmetric layout and the conventional four wheel , radial symmetrical layout of motion simulation , analysis of the omnidirectional mobile platform Mecanum three symmetrical layout has been sim-ple assembly , centripetal driving causes have better performance flexibility , better scalability , and puts forward the application potential of industrial logistics .
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