Quote:
Originally Posted by omalleyj
I think you need explain that more clearly. The robot will go at its maximum speed in the direction any pair is going in for the omni@45 arrangement. And .7071 of that speed in the regular front-back side-side directions. The ratio is 1.4, but you give the impression that it will go faster than its wheels are turning, which is impossible in any direction.
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Omni vehicle with 45 degree-mounted wheels goes faster in the forward direction than omega*R (R being wheel radius and omega being wheel angular velocity in rad/sec).
A chart comparing omni, mecanum, and standard wheels can be found
here.
A force analysis of mec vs omni can be found
here. A kinematic analysis can be done using a similar approach.