Dynamic Slippage and Trajectory Deviation Analysis of Omnidirectional AGVs with Diagonal Dual 2-DOF Wheels

This research examines the mechanical design and dynamic characteristics of a new type of omnidirectional Automated Guided Vehicle (AGV) that features double diagonally arranged wheels with two degrees of freedom (DOF). The goal is to reduce energy consumption when compared to conventional robots that use three or more steering wheels. Dynamic evaluation reveals that this setup results in dynamic skidding and trajectory deviation during straight-line acceleration. To explain the mechanism involved, a comprehensive kinematic model of the robot is first created, and a multibody dynamic analysis is carried out to study the dynamic skidding process. A co-simulation using Adams and MATLAB was conducted to validate the theoretical analysis, demonstrating strong agreement between the simulation outcomes and theoretical analysis. This research offers valuable insights into the motion control problems faced by omnidirectional AGVs equipped with diagonally arranged two-DOF wheels and serves as a crucial reference for enhancing their motion and control properties.