Practical Model for Energy Consumption Analysis of Omnidirectional Mobile Robot

Area of Science:

• Robotics
• Energy Systems Engineering
• Control Systems

Background:

• Mecanum wheel robots offer high maneuverability and load capacity, ideal for precise tasks in confined spaces.
• Despite their advantages, Mecanum robots exhibit significant energy consumption variations influenced by operating conditions.
• Accurate power consumption modeling is crucial for optimizing the performance and efficiency of these robots.

Purpose of the Study:

• To develop an accurate and broadly applicable energy consumption model for four-wheeled Mecanum robots.
• To investigate key factors influencing Mecanum robot power consumption, including motor temperature, terrain, and center of gravity.
• To enhance the precision of energy consumption predictions for improved robot operation.

Main Methods:

• A novel energy consumption model was derived by integrating kinematic and kinetic principles with electrical engineering and energy flow concepts.
• The model was simulated using MATLAB.
• Experimental validation was performed on a laboratory-based four-wheeled Mecanum robot platform.

Main Results:

• The developed energy consumption model achieved an accuracy of 95% in experimental validation.
• The model effectively accounts for various factors impacting power consumption in Mecanum robots.
• Simulations and experiments confirmed the model's predictive capabilities.

Conclusions:

• The validated energy consumption model provides a reliable tool for predicting power usage in Mecanum robots.
• Accurate energy modeling enables optimized path and task planning, leading to significant energy savings.
• This research expands the applicability and accuracy of energy consumption modeling for Mecanum wheel robots.