By: Ether
New: 05-20-2010 03:25 AM
Updated: 10-08-2011 01:04 PM
Total downloads: 6125 times

Mecanum and Omni wheel kinematic and force analysis and programming. Omni vs mecanum force and kinematic comparison. Bump-free mecanum roller profile.

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*********** Mecanum Kinematic Analysis 100531 ********************

Given a desired vehicle motion,
how to calculate the necessary mecanum wheel speeds
to achieve that motion.



*********** Mecanum X & O Square & Rectangle ********************

Shows why the "O" configuration (floor contact; viewed from bottom) is the correct orientation for mecanum wheels




*************** mecanum force vector analysis ********************

explains the forces and torques acting on a mecanum wheel,
and why a mecanum vehicle has less traction





****** MECANUM PROGRAMMING: SINGLE AND DOUBLE JOYSTICK ***********

presents two algorithms for mecanum (or omni) control:
one for a single 3-axis joystick, and one for 2 joysticks.





***************** omni vs mecanum forces *************************

- illustrates how the forces acting on mecanum and omni wheels differ


- kinematic and force comparison omni vs mecanum 6/23/10

chart showing speed and force comparison
of mecanum vs omni wheel vehicle





**************** "bump-free" mecanum roller **********************

how to profile a mecanum roller so that it is "bump-free",
ie it conforms to the circular circumference of the wheel

- equations for "bump-free" mecanum roller profile RevC
- bump-free mecanum roller equations (alternate derivation)
- Win32 "bump-free" mecanum roller profile calculator
- roller profile parabola vs ellipse comparison
- parabolic profile roller projection to XY plane forms circular arc





*************** control mecanum yaw with gyro ********************

simple method of using gyro yaw rate signal
to trim the joystick yaw axis output.






************ ATAN2 arctangent algorithm with C code **************



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Attached Files

• Mecanum Kinematic Analysis 100531

  Mecanum Kinematic Analysis 100531.pdf

  download file

  uploaded: 05-31-2010 08:15 AM
  filetype: pdf
  filesize: 60.28kb
  downloads: 1173

  
  

• kinematic and force comparison omni vs mecanum 6/23/10

  omni vs mec 100623_.gif

  download file

  uploaded: 06-23-2010 09:45 AM
  filetype: gif
  filesize: 45.1kb
  downloads: 435

  
  

• mecanum force vector analysis

  mecanum_force_vector_analysis.pdf

  download file

  uploaded: 07-02-2010 07:24 AM
  filetype: pdf
  filesize: 103.56kb
  downloads: 730

  
  

• omni vs mecanum forces

  omni vs mec forces 100627_.pdf

  download file

  uploaded: 07-02-2010 07:29 AM
  filetype: pdf
  filesize: 18.37kb
  downloads: 367

  
  

• equations for "bump-free" mecanum roller profile RevC

  mecanum 'bumpless' roller profile RevC.pdf

  download file

  uploaded: 07-20-2010 05:10 PM
  filetype: pdf
  filesize: 22.18kb
  downloads: 333

  
  

• roller profile parabola vs ellipse comparison

  roller profile parabola vs ellipse.pdf

  download file

  uploaded: 07-20-2010 07:13 PM
  filetype: pdf
  filesize: 9.99kb
  downloads: 292

  
  

• parabolic profile roller projection to XY plane forms circular arc

  parabola projection.zip

  download file

  uploaded: 07-24-2010 01:58 PM
  filetype: zip
  filesize: 59.36kb
  downloads: 189

  
  

• Win32 "bump-free" mecanum roller profile calculator

  profXY.zip

  download file

  uploaded: 07-26-2010 06:05 PM
  filetype: zip
  filesize: 25.01kb
  downloads: 170

  
  

• errata and updates 100731b

  errata & updates 100731b.txt

  download file

  uploaded: 07-31-2010 04:47 PM
  filetype: txt
  filesize: 3.23kb
  downloads: 147

  
  

• bump-free mecanum roller equations (alternate derivation)

  bump-free mecanum roller equations (alternate derivation).zip

  download file

  uploaded: 07-31-2010 10:09 PM
  filetype: zip
  filesize: 62.86kb
  downloads: 212

  
  

• mecanum programming single and double joystick

  mecanum programming Rev C.zip

  download file

  uploaded: 08-14-2010 11:25 AM
  filetype: zip
  filesize: 2.21kb
  downloads: 381

  
  

• control mecanum yaw with gyro

  mecanum gyro revB.pdf

  download file

  uploaded: 08-29-2010 03:08 PM
  filetype: pdf
  filesize: 15.01kb
  downloads: 283

  
  

• ATAN2 algorithm and C code

  atan2.zip

  download file

  uploaded: 10-11-2010 02:09 PM
  filetype: zip
  filesize: 2.29kb
  downloads: 128

  
  

• mecanum X & O square & rectangle

  mec X & O rect & square.pdf

  download file

  uploaded: 12-06-2010 09:39 PM
  filetype: pdf
  filesize: 18.98kb
  downloads: 295

  
  

• pseudo-code for mecanum & omni with gyro for field-centric control

  mec or omni w gyro 1-21-2011.pdf

  download file

  uploaded: 01-22-2011 06:57 PM
  filetype: pdf
  filesize: 34.38kb
  downloads: 186

  
  

• Cartesian & Joystick to Polar and Nav

  theta3.pdf

  download file

  uploaded: 01-23-2011 09:59 AM
  filetype: pdf
  filesize: 8.24kb
  downloads: 108

  
  

• 1-26-2011 mecanum & omni with gyro for field-centric control

  mec or omni w gyro 1-26-2011.pdf

  download file

  uploaded: 01-26-2011 08:46 AM
  filetype: pdf
  filesize: 35.86kb
  downloads: 473

  
  

• 2011-05-04 Kiwi Omniwheel Inverse Kinematics

  Kiwi Omniwheel Inverse Kinematics.pdf

  download file

  uploaded: 05-04-2011 03:11 PM
  filetype: pdf
  filesize: 26.99kb
  downloads: 141

  
  

• 2011-09-30a mecanum roller design calculator

  PROF16.zip

  download file

  uploaded: 09-30-2011 09:02 PM
  filetype: zip
  filesize: 7.81kb
  downloads: 40

  
  

• link to swerve kinematics and programming

  swerve kinematics and programming.pdf

  download file

  uploaded: 10-08-2011 01:04 PM
  filetype: pdf
  filesize: 22.76kb
  downloads: 40

  
  

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