Omni Wheel Configuration

[gpetilli]

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.

[kevin.li.rit]

Originally Posted by Nate Laverdure

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)

[Nate Laverdure]

Originally Posted by kevin.li.rit

Wikipedia seems to disagree.

There's no disagreement. With the design I posted, you'd be able to control only 2 of 3 DOFs.

[kevin.li.rit]

I see. The attached differs from the source.

[JamesCH95]

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.