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A) traditional mecanum wheel on inclined surface; b) mecanum wheel with
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![Mecanum wheel design for MHeLFAGV. | Download Scientific Diagram](https://i2.wp.com/www.researchgate.net/profile/Dr_Addie_Irawan/publication/311743585/figure/download/fig1/AS:441717246697472@1482325006028/Mecanum-wheel-design-for-MHeLFAGV.png)
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![Schematic of the proposed mecanum wheel and its components. | Download](https://i2.wp.com/www.researchgate.net/publication/297743648/figure/fig10/AS:341580830527515@1458450624944/Schematic-of-the-proposed-mecanum-wheel-and-its-components.png)