本篇論文提出了一種自動偵測麥克納姆輪全向自走車車輪故障的方法。
現代社會中，工業界及自動化高科技產業為了追求產能高效率，常會以移動型平台及多功能之自走車作為載具。相較於常見的自走車，全向車的優勢在於可以藉由車輪全向之特性，克服工作場域狹小所造成車身移動的問題。然而，當全向自走車車輪的故障時，會導致自走車定位困難及使其全向特性失效，進而造成工作效率降低。為了要防範及警示這些使得全向車車輪故障的問題，本研究提出了一種以各車輪系統的黏滯摩擦係數(Viscous friction coefficient, D_o)作為判別車輪是否故障的參數。藉由全向車系統之運動學模型及動力學模型，取得黏滯摩擦係數與各車輪轉速的關係。利用兩個參數的關係，呈現出全向自走車車輪的當下的移動情況，並且能即時呈現車輪發生故障的特徵。此外，本研究也利用各車輪系統的黏滯摩擦係數進行地面狀況的分析及探討。全向自走車移動於不同材質的地面時，同時觀察各車輪黏滯摩擦係數的變化，可得出全向自走車於不同材質的地面時，各車輪的黏滯摩擦係數數值大小也會隨之不同。

This thesis develops a detection method for detecting wheel fault of omni-directional vehicle with Mecanum wheel. In the modern industry, in order to achieve high production efficiency, the mobile platforms and the omnidirectional vehicles are often used as vehicles in the industrial and high-tech automation industries. Compared with automatic mobile vehicle , the advantage of omnidirectional vehicle is that it can overcome the problem of body movement caused by the narrow working area by the characteristics of the wheels. However, once the omnidirectional wheel fails, it will cause difficulty in positioning and also reduce the omnidirectional characteristics and work efficiency.In order to prevent and warn of these problems that make the wheels of omnidirectional vehicles fail, the proposed method utilizes the viscous friction coefficients ($D_o$) of each wheels to determine whether the wheels of the omnidirectional vehicle are fault or not. The relationship between the viscous friction coefficients and the speed of each wheels are obtained by the kinematics model and dynamics model of the omnidirectional vehicle system.
According to the variation of the relationship between the two parameters, the movement of the wheels of the omnidirectional vehicle can be verified and the characteristics of wheels failure can be presented.
In addition, the proposed method also utilizes the viscous friction coefficients of each wheels system to analyze the ground conditions.
The value of the viscous friction coefficients of each wheels are different when the omnidirectional vehicle moves on the ground of different materials.

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