  The four-wheeled Mecanum robot is widely used in various industries due to
its maneuverability and strong load capacity, which is suitable for performing
precise transportation tasks in a narrow environment, but while the Mecanum
wheel robot has mobility, it also consumes more energy than ordinary robots.
The power consumed by the Mecanum wheel mobile robot varies enormously
depending on their operating regimes and environments. Therefore, only knowing
the working environment of the robot and the accurate power consumption model
can we accurately predict the power consumption of the robot. In order to
increase the appli-cable scenarios of energy consumption modeling for Mecanum
wheel robots and improve the accuracy of energy consumption modeling, this
paper focuses on various factors that affect the energy consumption of the
Mecanum wheel robot, such as motor temperature, terrain, the center of gravity
position, etc. The model is derived from the kinematic and kinetic model
combined with electrical engineering and energy flow principles. The model has
been simulated in MATLAB and experimentally validated with the four-wheeled
Mecanum robot platform in our lab. Experimental results show that the model is
90% accurate. The results of energy consumption modeling can help robots to
save energy by helping them to perform rational path planning and task
planning.
