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Originally Posted by InfernoX14
I'd rather use 4 omni-wheels. It would take more weight and all that but a rectangular chassis is easier to fabricate and deal with than a triangular chassis.
http://www.chiefdelphi.com/forums/sh...?postid=420541
To drive forward, all wheels drive forward. To go to the side, the wheels on the same side will drive in opposite direction. wheels in the opposite angles of eachother will drive in the same direction. To go left, the front right and back left would drive forwards and the front left and back right would drive backwards. This would be opposite to go right.
I'd expect that if you were going in a direction parallel to a pair of wheels ie. Front left and back right, then the other two wheels would turn at all.
I hope I didn't make that too confusing |
Another more likely possibility than that shown in the linked thread is a drive which rotates the orientation of the omniwheels 45*. Thus, to drive forward, two of the wheels are powered and two are idled. To strafe, the opposite wheels are engaged. For any other direction, some combination of the two is required.
Such a robot will travel forward and sideways at speeds comparable to other robots based on its gearing, though optimally, I think you'd like to gear it faster than other machines in those directions so it's not unusable when traveling at some other angle. When you're using a combination of wheels to move at some random angle, your speed will be something less than it's straight line speed.
Where omnidirectional movement is concerned, "forward" becomes a relative term. You can make forward on the joystick any direction, really. Some are more efficient than others, however, when speed and power are considered.