A Study on Slippage and Tip-over Stability for an Omnidirectional Mobile Robot with Longitudinal MY-wheels

This paper presents an omnidirectional mobile robot (OMR) with longitudinal MY-wheels, and because of the switching effect of the contact radius which is the distance between the robot center and the contact point with the ground, the real model of this OMR is a discontinuous model. In order to study the influence of different approximate continuous models on the performance of the OMR, a parameterized model based on the cycloidal curve is established. A solving method of the reaction force from the ground using the movement state of the OMR is proposed, and with the solved reaction force and the force-angle stability measurement (FASM) the slippage and tip-over stability of the OMR can be evaluated. Finally, the simulation is performed, and the influence of different models on the slippage and tip-over stability of the OMR is analyzed.