Quote:
Originally Posted by Oblarg
One thing to keep in mind is that in the omni-drive, rollers will be turning when you are moving forward or backward. In the mecanum drive, they will not.
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Assuming "perfect" omni & mec and floor surface, that is true.
However, due to roller axial free play and carpet compliance there will be some motion of the mec rollers, even in the forward direction.
Quote:
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Whenever the rollers turn, you have non-negligible frictional losses - in fact, if you work out the geometry, you'll see that frictional losses in the spinning of the rollers is the only reason that mecanums strafe slower than their forward/backward movement.
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In the strafe direction, those frictional forces in the mec rollers require more torque to be applied to the wheel in order to get the same motive torque. This causes increased losses due to carpet stretching, compared to the forward direction. See Page4 of
this document.