Real Time Fault Detection for Mecanum Wheel Omnidirectional Robot Platform

This research demonstrates fault detection of omnidirectional vehicles with Mecanum wheels, when rotational error occurs in operation and in real time, by directly monitoring the viscous frictional coefficient through the torque model of each of the four operational Mecanum wheels. The method examined the different viscous friction coefficients of two size of wheels, as well as different road surfaces. The relationship between the viscous friction coefficients and the speed of each wheels are obtained by both the kinematics and dynamics modeling of the omni-directional vehicle system. Base on the variation of the relationship between the two parameters, the movement of the wheels of the omni -directional vehicle can be verified and the characteristics of wheels failure can be also presented in the experiment part.