Quote:
Originally Posted by Ether
I claim the following happens:
- Up to a certain point, both robots push with exactly the same force. There is no 71% factor involved.
- If the motors are sufficiently powerful, a point will be reached where the wheels start to slip. RobotA, with the mecanum wheels, will reach this point before RobotB, with the standard wheels.
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Again, the assertions assume the rollers pit all of the force
forward. The reality is that the rollers, even when not spinning, will put part of the force inward toward the robot. The force vector calculations easily show this. The resulting forward force is based on the fact that one component of both force vectors faces the other side of the robot; these two components cancel each other out. The forward component of the force vector is what pushes on the hypothetical wall.
It is the same logic as the situation where a box sits on an inclined plane. Gravity pull the box straight down, yet only a component of the gravitational force creates the force normal to the ramp that keeps the box on the ramp. the other component is parallel to the ramp. Same logic, different situation.
Interestingly enough, the
speed of a Mecanum drive train is the same as standard skid steer, and perhaps that's the confusion?