{"id":"https://openalex.org/W4213049673","doi":"https://doi.org/10.1108/ir-10-2021-0251","title":"Motion optimization of an omnidirectional mobile robot with MY wheel based on contact mechanics","display_name":"Motion optimization of an omnidirectional mobile robot with MY wheel based on contact mechanics","publication_year":2022,"publication_date":"2022-02-22","ids":{"openalex":"https://openalex.org/W4213049673","doi":"https://doi.org/10.1108/ir-10-2021-0251"},"language":"en","primary_location":{"id":"doi:10.1108/ir-10-2021-0251","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-10-2021-0251","pdf_url":null,"source":{"id":"https://openalex.org/S166948985","display_name":"Industrial Robot the international journal of robotics research and application","issn_l":"0143-991X","issn":["0143-991X","1758-5791"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319811","host_organization_name":"Emerald Publishing Limited","host_organization_lineage":["https://openalex.org/P4310319811"],"host_organization_lineage_names":["Emerald Publishing Limited"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Industrial Robot: the international journal of robotics research and application","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5049517117","display_name":"Changlong Ye","orcid":"https://orcid.org/0009-0001-7974-9182"},"institutions":[{"id":"https://openalex.org/I125904092","display_name":"Shenyang Aerospace University","ror":"https://ror.org/02423gm04","country_code":"CN","type":"education","lineage":["https://openalex.org/I125904092"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Changlong Ye","raw_affiliation_strings":["School of Mechatronics Engineering, Shenyang Aerospace University, Shenyang, China"],"affiliations":[{"raw_affiliation_string":"School of Mechatronics Engineering, Shenyang Aerospace University, Shenyang, China","institution_ids":["https://openalex.org/I125904092"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034848430","display_name":"Yingxin Sun","orcid":null},"institutions":[{"id":"https://openalex.org/I125904092","display_name":"Shenyang Aerospace University","ror":"https://ror.org/02423gm04","country_code":"CN","type":"education","lineage":["https://openalex.org/I125904092"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yingxin Sun","raw_affiliation_strings":["School of Mechatronics Engineering, Shenyang Aerospace University, Shenyang, China"],"affiliations":[{"raw_affiliation_string":"School of Mechatronics Engineering, Shenyang Aerospace University, Shenyang, China","institution_ids":["https://openalex.org/I125904092"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113609149","display_name":"Suyang Yu","orcid":null},"institutions":[{"id":"https://openalex.org/I125904092","display_name":"Shenyang Aerospace University","ror":"https://ror.org/02423gm04","country_code":"CN","type":"education","lineage":["https://openalex.org/I125904092"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Suyang Yu","raw_affiliation_strings":["School of Mechatronics Engineering, Shenyang Aerospace University, Shenyang, China"],"affiliations":[{"raw_affiliation_string":"School of Mechatronics Engineering, Shenyang Aerospace University, Shenyang, China","institution_ids":["https://openalex.org/I125904092"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065475296","display_name":"Jian Ding","orcid":null},"institutions":[{"id":"https://openalex.org/I125904092","display_name":"Shenyang Aerospace University","ror":"https://ror.org/02423gm04","country_code":"CN","type":"education","lineage":["https://openalex.org/I125904092"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jian Ding","raw_affiliation_strings":["School of Mechatronics Engineering, Shenyang Aerospace University, Shenyang, China"],"affiliations":[{"raw_affiliation_string":"School of Mechatronics Engineering, Shenyang Aerospace University, Shenyang, China","institution_ids":["https://openalex.org/I125904092"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5112118606","display_name":"Chunying Jiang","orcid":null},"institutions":[{"id":"https://openalex.org/I125904092","display_name":"Shenyang Aerospace University","ror":"https://ror.org/02423gm04","country_code":"CN","type":"education","lineage":["https://openalex.org/I125904092"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chunying Jiang","raw_affiliation_strings":["School of Mechatronics Engineering, Shenyang Aerospace University, Shenyang, China"],"affiliations":[{"raw_affiliation_string":"School of Mechatronics Engineering, Shenyang Aerospace University, Shenyang, China","institution_ids":["https://openalex.org/I125904092"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5049517117"],"corresponding_institution_ids":["https://openalex.org/I125904092"],"apc_list":null,"apc_paid":null,"fwci":0.723,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.67371784,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":"49","issue":"5","first_page":"962","last_page":"972"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.998199999332428,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.996399998664856,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6673632264137268},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6104031205177307},{"id":"https://openalex.org/keywords/contact-mechanics","display_name":"Contact mechanics","score":0.5104092955589294},{"id":"https://openalex.org/keywords/omnidirectional-antenna","display_name":"Omnidirectional antenna","score":0.4667069911956787},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4616813063621521},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.43575403094291687},{"id":"https://openalex.org/keywords/slip","display_name":"Slip (aerodynamics)","score":0.41532281041145325},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.38958168029785156},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3556970953941345},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3214772939682007},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.32037389278411865},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.30067378282546997},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2397124171257019},{"id":"https://openalex.org/keywords/finite-element-method","display_name":"Finite element method","score":0.2349846065044403},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19289961457252502},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.14932072162628174},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.14222559332847595},{"id":"https://openalex.org/keywords/antenna","display_name":"Antenna (radio)","score":0.08932885527610779}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6673632264137268},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6104031205177307},{"id":"https://openalex.org/C179909247","wikidata":"https://www.wikidata.org/wiki/Q1783143","display_name":"Contact mechanics","level":3,"score":0.5104092955589294},{"id":"https://openalex.org/C24027999","wikidata":"https://www.wikidata.org/wiki/Q2176348","display_name":"Omnidirectional antenna","level":3,"score":0.4667069911956787},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4616813063621521},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.43575403094291687},{"id":"https://openalex.org/C195268267","wikidata":"https://www.wikidata.org/wiki/Q1928883","display_name":"Slip (aerodynamics)","level":2,"score":0.41532281041145325},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.38958168029785156},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3556970953941345},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3214772939682007},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.32037389278411865},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.30067378282546997},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2397124171257019},{"id":"https://openalex.org/C135628077","wikidata":"https://www.wikidata.org/wiki/Q220184","display_name":"Finite element method","level":2,"score":0.2349846065044403},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19289961457252502},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.14932072162628174},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.14222559332847595},{"id":"https://openalex.org/C21822782","wikidata":"https://www.wikidata.org/wiki/Q131214","display_name":"Antenna (radio)","level":2,"score":0.08932885527610779},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1108/ir-10-2021-0251","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-10-2021-0251","pdf_url":null,"source":{"id":"https://openalex.org/S166948985","display_name":"Industrial Robot the international journal of robotics research and application","issn_l":"0143-991X","issn":["0143-991X","1758-5791"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319811","host_organization_name":"Emerald Publishing Limited","host_organization_lineage":["https://openalex.org/P4310319811"],"host_organization_lineage_names":["Emerald Publishing Limited"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Industrial Robot: the international journal of robotics research and application","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1498297042","https://openalex.org/W1971145034","https://openalex.org/W1981154725","https://openalex.org/W2011646938","https://openalex.org/W2082632662","https://openalex.org/W2124998901","https://openalex.org/W2138514303","https://openalex.org/W2144849249","https://openalex.org/W2172171011","https://openalex.org/W2960465969","https://openalex.org/W2970546752","https://openalex.org/W2986502120","https://openalex.org/W3137432043","https://openalex.org/W3170024406"],"related_works":["https://openalex.org/W4200570312","https://openalex.org/W2141988813","https://openalex.org/W3128114094","https://openalex.org/W28049012","https://openalex.org/W3119646977","https://openalex.org/W1941854539","https://openalex.org/W2313906488","https://openalex.org/W2026886769","https://openalex.org/W2509497306","https://openalex.org/W3102838707"],"abstract_inverted_index":{"Purpose":[0],"The":[1,63,102,127],"mechanical":[2,32,131],"properties":[3],"between":[4,34,159],"wheel":[5,20,36,51,58,77,94],"and":[6,37,65,70,87,133,153,156,164,167,186,209,224],"ground":[7,38],"will":[8],"affect":[9],"the":[10,30,41,60,82,89,96,111,115,130,134,137,142,149,157,160,168,176,179,187,196,212,226],"motion":[11,42,99,122,161,227],"performance":[12],"of":[13,44,75,84,92,98,105,124,129,136,214,229],"wheeled":[14],"omnidirectional":[15,23,46],"mobile":[16,47],"robot":[17],"(OMR).":[18],"MY3":[19,35,50,57,76,85,93],"is":[21,100,107,171,182,191,198,207,231],"an":[22,45],"wheel.":[24],"This":[25,54],"paper":[26],"aims":[27,119],"to":[28,39,120,219],"analyze":[29],"contact":[31,67,72,205,216],"characteristics":[33],"improve":[40,121],"accuracy":[43,123,228],"platform":[48],"with":[49],"(MY3-OMR).":[52],"Design/methodology/approach":[53],"method":[55,138,197,202],"takes":[56],"as":[59,114],"research":[61],"objective.":[62],"normal":[64],"tangential":[66],"mechanics":[68,73,206,217],"model":[69,74,104,218],"rolling":[71],"are":[78,139],"established":[79],"by":[80,109,141,184,193],"analyzing":[81],"structure":[83],"wheel,":[86],"thereby,":[88,225],"slip":[90,112],"ratio":[91,113],"in":[95,178],"process":[97],"calculated.":[101],"kinematics":[103,222],"MY3-OMR":[106,143,146,221,230,238],"optimized":[108],"taking":[110],"optimization":[116,166],"parameter":[117],"that":[118,175],"MY3-OMR.":[125],"Findings":[126],"correctness":[128],"analysis":[132],"feasibility":[135],"verified":[140],"prototype.":[144],"Let":[145],"move":[147],"along":[148],"set":[150],"circular":[151,188],"trajectory":[152,162,170,181,189],"square":[154,180],"trajectory,":[155],"error":[158,177,190],"before":[163],"after":[165],"standard":[169],"obtained.":[172],"It":[173],"illustrates":[174],"reduced":[183,192],"1.5%,":[185],"2%;":[194],"therefore,":[195],"effective.":[199],"Originality/value":[200],"A":[201],"based":[203],"on":[204],"proposed":[208],"verified.":[210],"Through":[211],"establishment":[213],"wheel-ground":[215],"optimize":[220],"model,":[223],"improved,":[232],"which":[233],"lays":[234],"a":[235],"foundation":[236],"for":[237],"engineering":[239],"application.":[240]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}