2 Wheel Swerve (2 swerve, 2 omni)

[Lil' Lavery]

See Wildstang and Simbotics (ball casters as opposed to omni-wheels) in 2004. The Simbots were even kind enough to post this whitepaper on their drive:
http://www.chiefdelphi.com/media/papers/1552

[ajlapp]

We did one back in college...

http://www.chiefdelphi.com/media/photos/14645

[Brandon Zalinsky]

Are the two omni wheels powered?

[Christopher149]

Originally Posted by ajlapp

We did one back in college...

http://www.chiefdelphi.com/media/photos/14645

Hello from Michigan Tech. Part of the lower arm of that robot (with the Michigan Tech cut-out) is currently hanging on our cage in the high school where we store the robot. I didn't realize that we had ever done any swerve on the team.

[ajlapp]

That was the only version we tried...it was reasonably successful. We had individual steering using a globe motor. The transmission was integrated into the module.

On paper it was a really great bot.

http://www.chiefdelphi.com/media/photos/14647

[ENIAC]

Originally Posted by Flak-Bait

Are the two omni wheels powered?

Yes, they are.

Originally Posted by Alan Anderson

It seems like a reasonable approach, but the diamond configuration seems unnecessarily tippy. I think a traditional corners-of-the-rectangle wheel placement should work as well. It shouldn't even matter which two corners the two steerable wheels occupy.

I was thinking that as well. I saw the example in Post #6 with the omnis and the swerve modules on separate sides.

Would there be an optimal driving orientation, assuming the omnis are at opposite corners? i.e, would it drive straight better when the sides are orthogonal or parallel to the direction of movement, or when they are at 45 degree angles?

Sorry if I am being unclear.