Quote:
Originally Posted by Culvan Van Li
If the wheel centers aren't at the corners of a square you will get some slipping that will result in roller movement.
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What is slipping? the roller is losing traction with ground? If so, I don't understand how a rectangular wheel arrangement would cause this?
Quote:
Originally Posted by Culvan Van Li
I believe that any roller angle between an Omni wheel and a Mecanum wheel can create this effect because the wheels on the opposite side have enough movement to counteract the losses accross the rollers. Once you go past that from Mecanum to McCannot you are losing more than half your potential movement to the rollers, if the rollers are frictionless. There isn't enough movement left to counteract the opposite diagonal's losses. Friction changes that though. With enough friction in the rollers, even the McCannot could have non-spinning rollers.
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I am confused by "wheels have enough movement to counteract the losses (of movement?)", and "losing more than half your potential movement". Could you re-state this in a static case just talking about the forces?