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Originally Posted by Dave.Norton
Hi;
Couple of questions for you; why the 82 degrees (I have some ideas, by why speculate)? The second is how did you control it? We went with an orthogonal holonomic drive this year, but discovered the unfortunate fact that 3 points define a plane, but 4 are over-constrained. Which is to say every time we hit an uneven spot in the floor whoever had the traction won and the robot went in that direction. We solved it in two ways, first added a yaw sensor so at least it knew what a straight line was, and then added a suspension so that all wheels maintained traction. This design looks even more interesting because it is inscribing arcs; at least ours was in a vector.
Thanks.
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As you can imagine, a completely flat omni-wheel wouldnt work properly, and because the surface isnt entirely flat, if you had your tilt too low, the same problems would occur. You don't want the wrong omni wheels to be toching the ground, or else you'd get unecisarry scrubbing of the wheels. So, we places the wheels at enough of an angle to eliminate that, but still greatly improve our stability.
We had some issues with wheels getting more traction than others, especially when we we're driving on and off the loading zones. But we solved it by "shimming" the wheels so all four we're completly co-planar with the floor, and by using the white neoprene wheels.