2026-09-21T00:12:40Zhttps://dspace.mit.edu/server/oai/requestoai:dspace.mit.edu:1721.1/1202662022-01-13T07:54:05Zcom_1721.1_7582com_1721.1_7581col_1721.1_131024
H. Harry Asada.
Abdalla, Ali Alsalih
Massachusetts Institute of Technology. Department of Mechanical Engineering.
Massachusetts Institute of Technology. Department of Mechanical Engineering
2019-02-05T16:02:24Z
2019-02-05T16:02:24Z
2018
2018
http://hdl.handle.net/1721.1/120266
1083220124
Thesis: S.B., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2018.
Cataloged from PDF version of thesis.
Includes bibliographical references (page 35).
This thesis presents the testing of speed reduction exhibited by custom angle mecanum wheels. A simple trigonometric model is put forth for the speed reduction, along with the kinematic analysis and simulation of a 3-wheeled-vehicle. Then a 150 mecanum wheel is designed and built, along with a testing fixture allowing it to freely move in the direction the roller pushes towards. This fixture also allowed the collection of the encoder data from the motor and the linear distance the wheel travels. Based on that, the detected speed reduction ratio was 4.9:1, as opposed to the modeled ratio of 3.9:1. This discrepancy is likely cause by the absence of slippage in our model, the jiggle in the wheel's motion, the compliancy of the surface it rotates on, as well as the uncertainty from the linear distance measurement.
by Ali Alsalih Abdalla.
S.B.
35 pages
eng
Massachusetts Institute of Technology
MIT theses are protected by copyright. They may be viewed, downloaded, or printed from this source but further reproduction or distribution in any format is prohibited without written permission.
http://dspace.mit.edu/handle/1721.1/7582
Mechanical Engineering.
Angled roller mecanum wheel design that exhibits speed reduction
Thesis
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