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Re: The advantage of holonomic drivetrains
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Originally Posted by newton418
Team 231 chose us as alliance partners in the finals. I'm not sure, but I believe they had omni wheels that were all at 45 degree angles.
Yes, they did get pushed around; however, their driver did manage to "roll" around defending robots and pop a couple in the goal. Another advantage they had was, their infeed rollers were mounted on the long side of their robot, and their shooter was too. This provided room for the shooter and a large margin of error for the driver when they needed to pick up balls.
Here's the second match in the Lone Star Regional finals, if you really watch it you can see that nifty roll move used a couple of times.
http://video.google.com/videoplay?do...gional&pl=true
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Team 231's robot uses only two omni wheels in front of two pneumatic traction wheels (conventionally aligned). These afford extreme maneuverability at the cost of some lateral traction... surprisingly though, the omni wheels have pretty good traction fore and aft. Also, since our machine is oriented such that our wheel base is shorter than the track (wide and short), it maximizes the leverage of the traction wheels and we're still able to 'point' fairly well. Omni's do carry liabilities, but the trade off seems to have been worth it. NOT holonomic though.
Clay
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Clay Scales
Last edited by ClayScales : 07-04-2006 at 13:02.
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