Quote:
Originally Posted by lineskier
For the past week or so I've been working on a design for a drive system implementing both mecanum and omni wheels
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One of your ideas is to use only 2 motors to each side. I question the wisdom of this, as you're going to have to use much more real estate to get any kind of differential system in place. You might even reach the same amount of weight with a 2-motor system as a 4-motor system.
In 05, when we did mecanum, there was a small gear reduction to a chain reduction from the motor to the wheel, and it took up very little space. We were able to use field-oriented controls (with the old 150 degree/sec gyros and less powerful controller, so it should be pretty easy now) without pushing the weight limit.
Your design uses omnis to resolve the problem that mecanum wheels have with inclines, which is overstated. Last year, 3 or 4 teams with mecanum wheels were able to get up our ramps because they could drive straight. The problem mecanum robots have with inclines is if you try using the wheels as anything but straight on, you'll have control problems when the wheels lose contact with flat ground.
In 06, team 40 used 8" mecanum wheels and were able to get up that 30 degree incline. They just needed a running start, and the fact that they had their chassis high enough to take the crest.