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Originally Posted by RyanCahoon
Do mecanums correspondingly have sqrt(2) more torque than an omni setup with the same mechanical advantage? Or are mecanums that much less efficient?
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Read the statement in blue italic at the bottom of the pink section in the chart linked in
post 11 in this thread (but see note1 below).
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If it's just a matter of mecanums essentially having more mechanical advantage, then this doesn't answer the question of one being more agile...
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Correct, but my post was not addressing the "agile" comment.
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...as the same characteristics could be got by changing the gear ratio of one or the other.
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Theoretically yes (see note1 below). See
this document.
note1: The affordable mecs and omnis used by most FRC teams tend to have significant parasitic losses (mainly roller friction and roller axial free play) that affect real-world behavior noticeably (especially on a compliant surface such as carpet). This is especially noticeable for mecs in the strafe direction.