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Originally Posted by Projectchon
this is so cool , but i don't get how it works  |
William,
The wheels are all set 120 degrees apart and are special
Omni or Trick Wheels. This allows for the component forces of the wheel to power the robot in the desired direction. The most basic example of this is the robot going straight forward. To do this 2 of the wheels are powered the same amount and the third trails behind with little friction due to the rollers on the Omni wheels.
In the attached diagram (Sorry for the paint usage, it was the quickest way) you can see that 2 black arrows are the forces from the wheels. The red vector (arrow) is the force applied backwards from the wheel and the blue one is the perpendicular force. If you add up the forces in both directions (vertically and horizontally) the 2 blue arrows cancel each other out and therefore the robot only moves in the red direction. Powering the three wheels at various levels creates a more complex model, but allows the robot to move in any direction. I hope this helps.
-Eric