Quote:
Originally Posted by gpetilli
Okay, so then if I increase the gear ratio by sqrt(2)/2 to increase the available torque for the Omni-wheel drive, it should match the pushing force and traction of the mecanum
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To a first approximation. Keep in mind that friction in the rollers
reduces the available forward pushing force of omni, but
increases the available forward pushing force of mec: roller friction causes an omni to lose traction but causes a mec to gain traction (in the forward direction). See the second-to-last paragraph on Page3 of
this document.
Quote:
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If I build an asymmetric Killough with wheels at 30deg, I get 22% more forward torque and traction (0.866 vs. 0.707)
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Decreasing the toe-in angle of omni indeed increases the forward
force (for a given wheel torque), and the available traction.