Abstract:

Though kinematics analyzing for Mecanum wheeled omni-directional motion system, the restricted conditions of the system to move in omnidirections are presented. These conditions include relationships of the wheel structure, wheels number and the system lay-out to system to move in omni-direction. The singular configuration of the system is showed out from two class system layouts, it is presented that how to decrease or avoid the singular configuration of the system to move in omnidirections.

Key words: Mecanum wheel; omni-directional motion; motion restricted condition; singular configuration