Applied Research and

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Holonomic drive

Mecanum drive
 𝑉𝑖𝑋 (𝑖 =
1,2,3,4) 𝑉𝑖𝑤
𝑉𝑖𝑟 𝑉𝑖𝑌 (𝑖 = 1,2,3,4) 𝑉𝑖𝑟
√2

𝑉1𝑟 𝑉1𝑟
𝑉1𝑋 𝑉1𝑤 𝑉1𝑌
√2 √2
𝑉2𝑟 𝑉2𝑟
𝑉2𝑋 𝑉2𝑤 𝑉2𝑌
√2 √2
𝑉3𝑟 𝑉3𝑟
𝑉3𝑋 𝑉3𝑤 𝑉3𝑌
√2 √2
𝑉4𝑟 𝑉4𝑟
𝑉4𝑋 𝑉4𝑤 𝑉4𝑌
√2 √2

𝑉𝑖𝑋 (𝑖 = 1,2,3,4)
𝑉𝑋
𝑋 𝜔𝑧 𝑉𝑖𝑌 (𝑖 = 1,2,3,4)
𝑉𝑌
𝑌 𝜔𝑧
𝑉1𝑋 𝑉𝑋 𝑊 𝜔𝑧 ) 𝑉1𝑌 𝑉𝑌 𝐿 𝜔𝑧
𝑉2𝑋 𝑉𝑋 𝑊 𝜔𝑧 𝑉2𝑌 𝑉𝑌 𝐿 𝜔𝑧
𝑉3𝑋 𝑉𝑋 𝑊 𝜔𝑧 ) 𝑉3𝑌 𝑉𝑌 𝐿 𝜔𝑧 )
𝑉4𝑋 𝑉𝑋 𝑊 𝜔𝑧 𝑉4𝑌 𝑉𝑌 𝐿 𝜔𝑧 )

𝑉𝑖𝑤 (𝑖 = 1,2,3,4)

𝑉𝑖𝑤 = 𝑅𝑤 × 𝜔𝑖𝑤 𝑅𝑤 𝑉1𝑤 𝑉𝑋 𝑉𝑌 (𝐿 + 𝑊)𝜔𝑧

𝜔𝑖𝑤
𝑉2𝑤 𝑉𝑋 𝑉𝑌 (𝐿 + 𝑊)𝜔𝑧
𝑉𝑖𝑟 (𝑖 = 1,2,3,4)
𝐿 𝑉3𝑤 𝑉𝑋 𝑉𝑌 (𝐿 + 𝑊)𝜔𝑧
𝑊 𝑉4𝑤 𝑉𝑋 𝑉𝑌 (𝐿 + 𝑊)𝜔𝑧

𝑉1𝑤
𝑉𝑋
𝑉2𝑤
[ ] 𝐷 [ 𝑉𝑌 ]
𝑉3𝑤
𝜔𝑧
𝑉4𝑤
 1 −1 −(𝐿 + 𝑊)
1 1 (𝐿 + 𝑊)
𝐷 [1 ]
1 −(𝐿 + 𝑊)
1 −1 (𝐿 + 𝑊)
𝑉𝑖𝑤 = 𝑅𝑤 × 𝜔𝑖𝑤 𝑅𝑤

𝑉1𝑤 𝑅𝑊 𝜔1𝑊
𝑉2𝑤 𝑅𝑊 𝜔2𝑊
[ ] [ ]
𝑉3𝑤 𝑅𝑊 𝜔3𝑊
𝑉4𝑤 𝑅𝑊 𝜔4𝑊
𝐷

𝐷 + (𝐷𝑇 . 𝐷)−1 𝐷𝑇
1 1 1 1
1 −1
[ 1 1 1 −1 ]
4 1 1 1
−(𝐿+𝑊) (𝐿+𝑊) −(𝐿+𝑊) (𝐿+𝑊)

1 1 1 1 𝜔1𝑊
𝑉𝑋
[ 𝑉𝑌 ]
𝑅𝑤 −1
[ 1 1 1 −1 ] [ 𝜔2𝑊 ] 𝐾
4 1 1 1 𝜔3𝑊
𝜔𝑧 −(𝐿+𝑊) (𝐿+𝑊) −(𝐿+𝑊) (𝐿+𝑊) 𝜔4𝑊
1 1 1
𝐾 = 𝑚(𝑉𝑋2 + 𝑉𝑌2 ) + 𝐽𝑍 𝜔𝑍2 + 𝐽𝑊 (𝑉1𝑤 2 + 𝑉2𝑤 2 +
2 2 2
𝑉3𝑤 2 + 𝑉4𝑤 2 )
𝑚 𝐽𝑍
𝐽𝑊
−1 1 −1 1 𝜔1𝑊
𝑉𝑋
[ 𝑉𝑌 ]
𝑅𝑤
[ 11 1 1 1 ] [ 𝜔2𝑊 ] 𝐸 𝜇
4 1 1 1 𝜔3𝑊
𝜔𝑧 (𝐿+𝑊) −(𝐿+𝑊) −(𝐿+𝑊) (𝐿+𝑊) 𝜔4𝑊
1
𝐸= 𝜇 (𝑉1𝑤 2 + 𝑉2𝑤 2 + 𝑉3𝑤 2 + 𝑉4𝑤 2 )
2

𝜏 = 𝑀𝜃̈ 𝜇 𝜃̇

𝜃1 𝜏1
𝜃2 𝜏2
𝜽= [ ] 𝝉 = [𝜏 ]
𝜃3 3
𝜃4 𝜏4

𝐴 + 𝐵 + 𝐽𝑊 −𝐵 𝐵 𝐴−𝐵
−𝐵 𝐴 + 𝐵 + 𝐽𝑊 𝐴−𝐵 𝐵
𝑴=[ −𝐵 ]
𝐵 𝐴−𝐵 𝐴 + 𝐵 + 𝐽𝑊
𝐴−𝐵 𝐵 −𝐵 𝐴 + 𝐵 + 𝐽𝑊
𝑚𝑅 2 𝐽𝑍 𝑅 2
𝐴= 𝐵=
8 16(𝐿+𝑊)2
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