Analysis of Motion Stability of Mecanum Wheel Omnidirectional Movement Under Non-ideal Operating Conditions
CHENG Lin
WANG Kun
LIU Chenlai
Abstract：To address the demand for high-precision omnidirectional movement of aircraft engine disassembly and assembly vehicles in confined spaces for aviation maintenance,this study investigates the motion stability of the Mecanum wheel omnidirectional moving mechanism under non-ideal operating conditions.A multi-error coupling dynamic model was established,and combined with the multi-physics simulation of ADAMS and MSC.Dytran,the effects of wheel misalignment(0～40 mm offset)and road surface slippage on the motion performance of the mechanism were systematically analyzed.The results show that wheel misalignment has a slight impact on the forward and backward movement,but significantly degrades the lateral movement and causes velocity fluctuation and longitudinal creep.Under the slippage condition,the mechanism exhibits obvious radial and lateral coupled motion,leading to the decline of trajectory control accuracy.Furthermore,based on the simulation data,an analysis model integrating tolerance design and cost trade-off was constructed.This study provides a theoretical basis and technical support for the reliability design of heavy-duty omnidirectional mobile equipment.
Keywords：engine disassembly and assembly vehicleomnidirectional movementwheel misalignmentroad surface slippagedynamic simulation
Publication Date：2026-03-20
Online Publishing Date：2026-03-31(First online date of this platform, not the publication date of the document)
Pages：10( 19-28 )