Quote:
Originally Posted by compwiztobe
And actually, with four equally powered wheels, the robot goes slower diagonally, just with more torque (the wheel speeds don't add up, but the torques do). However, we can go twice as fast in one direction by doubling the CIMs there. Since we don't care as much about strafing, we demote them to RS 775s.
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I'm not sure how to explain this better than other people already have before me.
This gif file on
this page shows the relationship between standard drives, omni drives, and Mecanum drives. Ether does a great job of explaining the math and if you have questions he is usually happy to answer them.
The
source I sited above also shows how the other motors are able to induce velocity (not force) perpendicular to the direction of rotation of any one wheel.
In fact wheel torque is .707 (1 over root 2) that of any individual wheel when traveling at a 45 degree angle to any wheel.