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The Mecanum wheel, due to its omnidirectional mobility and heavy-duty transporting ability on the ground plane, is widely applied in the industry. However, the Mecanum wheel trades off energy efficiency for maneuverability. This paper proposes a novel energy consumption model of the four-wheel omnidirectional Mecanum mobile robots. The model is built based on a comprehensive understanding of the kinematics,...
A redundantly actuated parallel robot of the 6RSS mechanism involving two point-contact higher kinematic pairs (HKPs) has been developed for the evaluation of food texture changes during the process of mastication. To accomplish this, a fundamental capability of reproducing complex mandibular motions of human subjects in a biomimetic manner is required. In this paper, first, the mechanism and experimental...
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