Research on motion characteristic of omnidirectional device based on Mecanum wheel

Omnidirectional device has high maneuverability and wide application. Kinematic and dynamic equations of Mecanum wheel are derived according to its structure feature. The influence made by angles between wheel axes for centered layout is analysed, there is comparison between 3-wheeled and 4 w heeled layout for even centered layout. Rules of omnidirectional motion are summarized, which provides theoretical basis for motion control of omnidirectional device.