Quote:
Originally Posted by The other Gabe
I was under the impression that the 4-wheel set up was called holonomic, while the 3-wheel triangle is called kiwi drive
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Holonomic is a fairly general term. Originally it meant that a system is controlled by the same number of degrees of freedom as it is free to move. In FRC robotics, it usually refers to wheels or rollers which apply a force in one direction while allowing free motion in one or more directions at right angles to it. By the first definition, only the kiwi and H/slide drive (three independent gearboxes controlling rotation, forward, and lateral motion) qualify; by the latter, all of the drive systems discussed so far in this thread qualify.
Note that swerve drives are NOT holonomic by either definition - in order to drive in the three degrees of freedom of the carpet, typically 5-8 independent actuators control motion, and the wheels resist motion in the direction they do not apply force.
That said, I have rarely seen kiwi used to refer to anything other than 3 omni wheels.