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Originally Posted by RogerR
not quite...
when they are going "forward" the rollers on the wheels don't roll, and the mechanum/ilon wheels act as a normal wheel would. this allows it to put 100% of its power forward, where a "traditional" holonomic platform (with four wheels) would only be able to put out approx. 71% of its full motor power.
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Roger,
Let's try some inductive reasoning:
Assume the mecanum wheels
do put 100% of the power forward. We know the gearboxes can't output more than 100%, so there can't be any force sideways. Therefore, the robot could not strafe sideways.
However, we know that the robot
can strafe sideways. Therefore our assumption is false.
The mecanum wheels
do not put 100% of the power forward. They behave just like regular omnis at 45* angles. You get a maximum of 71% [1/sqrt(2) as Warren put it] power by moving forward, reverse, left, or right.