Kinematics Analysis and Simulation of Omnidirectional Mobile Platform of Cryogenic LNG Loading and Unloading Skid

This paper analyzes the motion characteristics of the omni-directional mobile platform of Mecanum wheel, introduces the detailed layout of the Mecanum wheel, analyzes the motion principle of the omnidirectional mobile mechanism of the omnidirectional mobile platform, establishes the corresponding kinematics equations, completes the three-dimensional modeling of the omnidirectional mobile platform by using SolidWorks, and uses ADAMS software to conduct the motion simulation analysis of the forward and backward, left and right, in-place rotation and climbing conditions during normal driving, which verify the rationality of the design of cryogenic LNG omnidirectional mobile platform.