2015: Year of the Mecanum

[StephenNutt]

Originally Posted by theCADguy

Also, quick question:
Can a mechanum drive be set up where the length of the drive train is greater than the width, or does it require a square configuration?

You can set it up with any aspect ratio, square, long or short (within reason)

[Kevin Sevcik]

Originally Posted by StephenNutt

You can set it up with any aspect ratio, square, long or short (within reason)

However, the farther you get from a square configuration, the more scrub you'll get when turning in place. Also, not square configs mean the wrong mecanum layout will make your robot turn backwards. Heh.

[Ether]

Originally Posted by Kevin Sevcik

However, the farther you get from a square configuration, the more scrub you'll get when turning in place.

For a mec, the inverse kinematics are the same¹ as long as it's rectangular.

¹ignoring roller friction, axial free play, and carpet compliance