A Model Locomotion System for Mobile Platforms Omnidirectional Serving the Industrial Environment

In this paper is presented a model of locomotion system with omnidirectional wheels for mobile platforms for the industrial environment. In the first part of the paper is made a brief description of the type of wheels used, what are their advantages and disadvantages. In the paper the emphasis is placed on omnidirectional wheels of Mecanum type and all their possibilities of movement are presented. Also presented is the design and sizing of a complete locomotion system for an omnidirectional mobile platform that serves the industrial environment. The chosen kinematic scheme and the calculation of the dimensioning of the necessary motors, the determination of the forces acting on the platform when moving in horizontal plane and the determination of the forces acting on the platform when moving on the ramp are presented.