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Unread 27-04-2014, 11:30
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Ether Ether is offline
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Re: Hexagonal Chassis + 6 CIM swerve drive

Quote:
Originally Posted by Oblarg View Post
To anyone having a hard time understanding why you need to power and turn wheels individually for a true swerve:

Take a rectangle. Move it in some manner that involves both a translation and a rotation. Pick some set of arbitrary points (say the corners), and imagine those are your wheels. It should be easy to see that for any generalized movement, those points are all moving in different directions and at different speeds.
Correct.

For anyone interested in the math, here are the equations:

http://www.chiefdelphi.com/media/papers/download/3236




Last edited by Ether : 27-04-2014 at 12:54.