Grippy Mecanums

[Hawiian Cadder]

Originally Posted by Andrew Schreiber

Except Kevin is wrong. I've tried pushing unpowered mecanums sideways (software testing for 2337 in 2010). I was physically unable to push the robot sideways. Along the diagonals was a different story though. Still not easy but most definitely easier. None of this involved any sort of fancy software which would enable the wheels to hold position.

As for grippy mecanums, if you ever get a chance talk to 357 about their process. Their wheels have quite a bit of grip and they are one of the few teams I've seen use mecanums well.

However, I am a firm believer in the theory that if you are pushing with a mecanum wheeled robot you are doing it wrong.

If the mechanum robot in question was running direct drive off bane bots P-80's then it is more than likely caused by binding in the gearboxes due to side loading. We had this problem in 2010, P-80's don't appreciate side loads at all, and without proper collars or flanges on the axle to load the frame instead of the gearbox this can cause inefficiencies for mechanums going sideways. I still wouldn't consider anything short of rough-top/wedgtop or pneumatic wheels to be really "high grip" in FRC.