Chief Delphi - Omni Wheel Configuration

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Chief Delphi (http://www.chiefdelphi.com/forums/index.php)

- Kit & Additional Hardware (http://www.chiefdelphi.com/forums/forumdisplay.php?f=55)

- - Omni Wheel Configuration (http://www.chiefdelphi.com/forums/showthread.php?t=125029)

gpetilli

22-01-2014 12:18

Re: Omni Wheel Configuration

3 Attachment(s)

a couple of files from previous CD posts (credits are in the files) that I think you will find useful in your trade-off analysis.

kevin.li.rit

22-01-2014 13:01

Re: Omni Wheel Configuration

Quote:

Originally Posted by Nate Laverdure (Post 1330689)

Note that this description isn't sufficient for describing a holonomic drivetrain based on omni wheels. For example, the attached design is not holonomic (source image).

Wikipedia seems to disagree.

http://en.m.wikipedia.org/wiki/Holonomic_(robotics)

Nate Laverdure

22-01-2014 13:18

Re: Omni Wheel Configuration

Quote:

Originally Posted by kevin.li.rit (Post 1330812)

Wikipedia seems to disagree.

There's no disagreement. With the design I posted, you'd be able to control only 2 of 3 DOFs.

kevin.li.rit

22-01-2014 13:27

Re: Omni Wheel Configuration

I see. The attached differs from the source.

JamesCH95

22-01-2014 13:59

Re: Omni Wheel Configuration

A pragmatic suggestion: seriously consider how reasonable it would be for your team to successfully execute a holonomic drivetrain, for what sounds like the first time ever, starting half-way through Week 3 of build. Your drivetrain is the single most important sub-system on your robot, thus I strongly encourage you to use a low-risk approach.

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