Quote:
Originally Posted by Steve_Alaniz
Mechanums will ONLY work in ONE configuration.
The frame can be either square or rectangular... that doesn't matter.
BUT there is only one way the wheels can be oriented and work properly (and I can prove this)
Look at the AXLES from the top they have to be in the X configuration as in
\ /
/ \
Which means if you flip it over and look at the Axles... (or if you were looking up at the bottom and the bot was on a piece of glass over you)... the AXLES must form an O as in
/ \
\ /
NO OTHER CONFIGURATION WILL WORK. Same yourself all the time I wasted... Believe it. And good luck at the game!
Steve
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I would have to agree. I haven't actually used mechanum before, but the theory holds up better on the "O" pattern. Basically, if you look at the roller from the bottom, it should be able to slide diagonally. The "X" is from the top. If the "X" were on the bottom, there would be absolutely no way to slide diagonally. Only forward/backward or only side to side would work, and I think rotating would feel pretty normal, but generally, holonomic drive trains are best when you're able to use them point-and-shoot (including diagonals).
By the way, for anyone confused as to why I used "holonomic," it's because it's a description of the movement of the drive train, not the way you accomplish it. Omniwheel drive (kiwi, 4-wheel omni), mechanum, and swerve drive are all types of holonomic. Basically, it means that the controllable degrees of freedom are equal to the total degrees of freedom on that plane. Since our robots drive on a two-dimensional plane (hopefully), there are 3 degrees of freedom; X, Y, and ω (omega, yaw, or rotation). Some advanced helicopters can be holonomic because they can control all 6 degrees of freedom on the 3 dimensional; X, Y, Z, roll, pitch, yaw. Fun Fysics Fact of the day.