Go to Post Good engineering involves working with constraints, not complaining about them. - Norman J [more]
Home
Go Back   Chief Delphi > Technical > Technical Discussion
CD-Media   CD-Spy  
portal register members calendar search Today's Posts Mark Forums Read FAQ rules

 
 
 
Thread Tools Rate Thread Display Modes
Prev Previous Post   Next Post Next
  #15   Spotlight this post!  
Unread 09-12-2013, 15:12
Ether's Avatar
Ether Ether is offline
systems engineer (retired)
no team
 
Join Date: Nov 2009
Rookie Year: 1969
Location: US
Posts: 8,120
Ether has a reputation beyond reputeEther has a reputation beyond reputeEther has a reputation beyond reputeEther has a reputation beyond reputeEther has a reputation beyond reputeEther has a reputation beyond reputeEther has a reputation beyond reputeEther has a reputation beyond reputeEther has a reputation beyond reputeEther has a reputation beyond reputeEther has a reputation beyond repute
Re: Omni vs Mecanum CoF ?

Quote:
Originally Posted by gpetilli View Post
Okay, so then if I increase the gear ratio by sqrt(2)/2 to increase the available torque for the Omni-wheel drive, it should match the pushing force and traction of the mecanum
To a first approximation. Keep in mind that friction in the rollers reduces the available forward pushing force of omni, but increases the available forward pushing force of mec: roller friction causes an omni to lose traction but causes a mec to gain traction (in the forward direction). See the second-to-last paragraph on Page3 of this document.

Quote:
If I build an asymmetric Killough with wheels at 30deg, I get 22% more forward torque and traction (0.866 vs. 0.707)
Decreasing the toe-in angle of omni indeed increases the forward force (for a given wheel torque), and the available traction.


 


Thread Tools
Display Modes Rate This Thread
Rate This Thread:

Posting Rules
You may not post new threads
You may not post replies
You may not post attachments
You may not edit your posts

vB code is On
Smilies are On
[IMG] code is On
HTML code is Off
Forum Jump


All times are GMT -5. The time now is 05:42.

The Chief Delphi Forums are sponsored by Innovation First International, Inc.


Powered by vBulletin® Version 3.6.4
Copyright ©2000 - 2017, Jelsoft Enterprises Ltd.
Copyright © Chief Delphi