Quote:
Originally Posted by Steve_Alaniz
In the Andy Mark type you can tighten the roller bolts to put friction on the roller so you can have a bit more "traction" but you'll sacrifice ...probably a bit of speed in other directions. I also depends on the co-efficient of friction of the rollers.
OKAY... A PROBLEM WITH THIS DISCUSSION. Mechanum are NOT that easy to push around. If you mean a 6WD trying to push a mechanum bot.... it's a TIE... DEPENDING ON... something people have not mentioned. Do you mean a 2 motor 6WD or a 4 motor 6WD... A European Swallow or an African Swallow?
Mechanums are all about understanding the vectors of the wheels and without needing to put numbers in... in any given direction, mechanums are the equivalent of the torque of TWO motors driving TWO wheels with the rollers locked. (Remember all mechanum drives are 4 motors unless you have a REALLY elaborate nightmarish power distribution system!)
When you push a regular robot sideways, you are trying to overcome the sideways wheel contact with the floor so co-efficient of friction is the major factor. Anytime you contact a mechanum, you are contacting it "head on". The driver can elect to drive into you and push back until the wheels slip... co-efficient of friction again. I think the real issue is the number of motors you have to burn up with mechanums. You need 4 for a mechanum while you can have a nice 6wd for only 2.
In the end, either is a good choice.
Steve
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I think the argument is a 4 CIM 6WD versus a 4 CIM mecanum drive. The 4 CIM wins every time. I don't think I've ever seen anyone build a 6WD with less than 4 CIMs (on a winning robot and occasionally I see 2 CIMs and 2 FP) last time I saw 2 CIMs on a 6WD was 254 in 2006 but they had shifters.