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Originally Posted by Steve_Alaniz
Not to start an argument...
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Not to worry. I welcome polite challenges.
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..but the white paper actually confirms what I was saying. In fact, it states in the body that "Therefore, assuming no roller bearing friction, the “pushing force” (and speed) of the vehicle is the same in the fore/aft and sideways directions."
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The above statement is true, but it doesn't confirm what you said. You said:
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in any given direction, mechanums are the equivalent of the torque of TWO motors driving TWO wheels with the rollers locked
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The above statement is not true.
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So I don't see how you got the 41% unless you are including friction from the bolt/axle but I would be happy to hear how you reached these conclusions.
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The 41% increase is a factor of 1.41, which is 1/cos(45), 45 being the angle of the roller.
To summarize:
In the forward direction, the pushing force of a (4 motor) mecanum vehicle is the same whether the rollers are locked or not,
assuming that the vehicle is not traction-limited.
If the mecanum vehicle
is traction-limited, then the pushing force is reduced by a factor of 1.41. However, compared to
TWO locked-roller wheels (which is the comparison you made), this would be 1.41 times larger:
(F/1.41)*2 = F*1.41
If this still isn't clear, I don't mind giving it another shot. Tell me which part doesn't make sense.