A simple and efficient bottom-roller axle intersections approach for judging the omnidirectional mobility of the Mecanum wheel configuration is proposed and proved theoretically. Based on this approach, a sub-configuration judgment method is derived. Using these methods, on the basis of analyzing the possible configurations of three and four Mecanum wheels and existing Mecanum wheel configurations of robots in practical applications, the law determining wheel configuration is elucidated. Then, the topological design methods of the Mecanum wheel configurations are summarized and refined, including the basic configuration array method, multiple wheels replacement method, and combination method. The first two methods can be used to create suitable multiple-Mecanum-wheel configurations for a single mobile robot based on the basic Mecanum wheel configuration. Multiple single robots can be arranged by combination methods including end-to-end connection, side-by-side connection, symmetrical rectangular connection, and distributed combination, and then, the abundant combination configurations of robots can be obtained. Examples of Mecanum wheel configurations design based on a symmetrical four-Mecanum-wheel configuration and three centripetal configurations using these topological design methods are presented. This work can provide methods and a reference for Mecanum wheel configurations design.

In industry, combination configurations composed of multiple Mecanum-wheeled mobile robots are adopted to transport large-scale objects. In this paper, a kinematic model with velocity compensation of the combined mobile system is created, aimed to provide a theoretical kinematic basis for accurate motion control. Motion simulations of a single four-Mecanum-wheeled virtual robot prototype on RecurDyn and motion tests of a robot physical prototype are carried out, and the motions of a variety of combined mobile configurations are also simulated. Motion simulation and test results prove that the kinematic models of single- and multiple-robot combination systems are correct, and the inverse kinematic correction model with velocity compensation matrix is feasible. Through simulations or experiments, the velocity compensation coefficients of the robots can be measured and the velocity compensation matrix can be created. This modified inverse kinematic model can effectively reduce the errors of robot motion caused by wheel slippage and improve the motion accuracy of the mobile robot system.

Computer simulation is an effective means for the research of robot navigation algorithms. In order to implement real-time, three-dimensional, and visual navigation algorithm simulation, a method of algorithm simulation based on secondary development of Unity3D is proposed. With this method, a virtual robot prototype can be created quickly with the imported 3D robot model, virtual joints, and virtual sensors, and then the navigation simulation can be carried out using the virtual prototype with the algorithm script in the virtual environment. Firstly, the scripts of the virtual revolute joint, virtual LiDAR sensors, and terrain environment are written. Secondly, the A* algorithm is improved for navigation in unknown 3D space. Thirdly, taking the Mecanum wheel mobile robot as an example, the 3D robot model is imported into Unity3D, and the virtual joint, sensor, and navigation algorithm scripts are added to the model. Then, the navigation is simulated in static and dynamic environments using a virtual prototype. Finally, the navigation tests of the physical robot are carried out in the physical environment, and the test trajectory is compared with the simulation trajectory. The simulation and test results validate the algorithm simulation method based on the redevelopment of Unity3d, showing that it is feasible, efficient, and flexible.

This study aims to develop a new fabrication process to create high-precision patterned shape memory alloy (SMA) bimorph micro-actuators by the e-beam evaporation technique. To examine the effect of the annealing process on nitinol (NiTi) thin film characteristics, the as-deposited and annealed NiTi thin films are, respectively, investigated. X-ray diffraction (XRD) results demonstrate the crystallization of NiTi thin films after annealing at 600 °C. The transformation behaviors of NiTi thin films during heating and cooling are studied using the differential scanning calorimeter (DSC). Furthermore, scanning electron microscopy (SEM) images indicate that SMA bimorph micro-actuators with high-precision features can be fabricated by the lift-off process, without any wet or dry etching procedures, and their thermomechanical behaviors are experimentally verified by comparing them with that of finite element analysis simulation results.

Lightweight microstructures with high area-to-mass ratios, or low surface densities, show great potential applications in microrobots, soft electronics, medical devices, and solar sailing. However, the bending stiffness of such microstructures is usually too low to work effectively. In order to obtain active microstructures with enhanced bending stiffness, a new design for thermally actuated multilayered metallic microstructures with high area-to-mass ratios is presented in this article. The microstructures made of aluminum and NiTi alloy are fabricated to demonstrate the feasibility of vertical deployment of such microstructures under thermal actuation. The concept design and working principle of designed multilayered metallic microstructures are based on symmetrical deposition of metals Al\NiTi\NiTi\Al, followed by practical microfabrication processes, such as photolithography, physical vapor deposition (PVD), and dry etch. The area-to-mass ratios of such microstructures could be up to 400 m2/kg. Then, experiments for electrical characterization are set up for thermal actuation or Joule heating. Besides that, the equivalent resistances of such microstructures with regard to temperatures are calibrated, allowing for the determination of in situ temperatures of deformed microstructures when being heated in the vacuum chamber of scanning electron microscope (SEM). Finally, vertical deployment of such thin microstructures is detected and measured, which validates the feasibility of stiffness enhancement through the symmetrical design and thermal actuation.