Quote:
Originally Posted by zhy557
Thank you for your reply.
here's another article with open access, in page 3:
http://arxiv.org/pdf/1211.2323.pdf
or search the google schoolar " Modelling of the motion of a Mecanum-wheeled vehicle" by E Matsinos. |
I'm at the office today, so I can't look at it in detail until this evening, but this document has several serious issues, in particular the directions of the rollers as they make contact with the ground - all of the force diagrams (most particularly figure 3) show forces in an "X" configuration, but the rollers should contact the carpet in a "<>" diamond configuration if they have an "X" configuration as viewed from above (and specified in figure 2).
In Fig 3 wheel 2, Fp should point "northwest" and Ft should point "northeast". This also causes them to swap strafe directions in the table. I'm surprised they were able to get any rotation at all.