Quote:
Originally Posted by exprg:melonhead
hmmm... this wheel sure does look pretty, but does it run that way too? the side wheels (or whatever the technical term for them may be) look as if they are at a very harsh angle. now, i'm just a programmer, but isn't the ideal angle 45 degrees?
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There is no "ideal" angle.
Many mecanum wheels have rollers at 45 degrees. This makes the kinematic (and dynamic) analysis easier. The forward and inverse kinematic matrix transformations are simple, with no trig functions or square roots.
Making the angle smaller than 45 degrees (angle between roller axis and plane of the wheel) improves forward/reverse traction but reduces strafing traction, and vice versa.
So there is no one ideal angle. It depends on the application.
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