Quote:
Originally Posted by EricH
Not that I know of, however, it could be done given enough motors. I think the reason is, not enough decent motors. You need 2 per wheel, and that means 8 motors. Yeah, we have that many. No, they aren't all what we'd want for that. We'd need 4 CIMs, 2 FPs, and 2 globes. Not enough decent motors left to put much on top of the drive, unless pneumatics are used for an arm. (Banebots, window, and maybe van door are left.)
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This comment got me thinking...
There's already been an idea posted to implement a ball drive in a similar fashion to a crab, but there are boundless other motor possibilities.
Once I have some free time I might try and run some vector calculations and see what I can come up with. Even toying around with the idea in my head I can think of a couple relatively simple ways to control the drive with 4 (or fewer) motors, in a very similar fashion to a holonomic system. The question then becomes to you gain any advantages over a holonomic system, and that's where I'd need to run a few calculations to see if this configuration could allow for any new types of movement (my suspicion is no), or more efficient movements in any direction.