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Unread 22-01-2014, 12:18
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Re: Omni Wheel Configuration

a couple of files from previous CD posts (credits are in the files) that I think you will find useful in your trade-off analysis.
Attached Files
File Type: pdf drivetraindesign.pdf (2.26 MB, 26 views)
File Type: pdf 2008CON-Omni-Baker-McKenzie.pdf (2.73 MB, 21 views)
File Type: xlsx JVN-DesignCalc.20130105.xlsx (26.3 KB, 4 views)
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Unread 22-01-2014, 13:01
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Re: Omni Wheel Configuration

Quote:
Originally Posted by Nate Laverdure View Post
Note that this description isn't sufficient for describing a holonomic drivetrain based on omni wheels. For example, the attached design is not holonomic (source image).
Wikipedia seems to disagree.

http://en.m.wikipedia.org/wiki/Holonomic_(robotics)
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Unread 22-01-2014, 13:18
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Re: Omni Wheel Configuration

Quote:
Originally Posted by kevin.li.rit View Post
Wikipedia seems to disagree.
There's no disagreement. With the design I posted, you'd be able to control only 2 of 3 DOFs.
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Unread 22-01-2014, 13:27
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Re: Omni Wheel Configuration

I see. The attached differs from the source.
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Unread 22-01-2014, 13:59
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Re: Omni Wheel Configuration

A pragmatic suggestion: seriously consider how reasonable it would be for your team to successfully execute a holonomic drivetrain, for what sounds like the first time ever, starting half-way through Week 3 of build. Your drivetrain is the single most important sub-system on your robot, thus I strongly encourage you to use a low-risk approach.
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