Best Drivetrain options

[GeeTwo]

Originally Posted by Ether

Or both (octocanum). Or neither (H slide).

H drive isn't holonomic? Sure, it's anisotropic, but it can go forward-reverse, left-right, spin, and any combination I can think of.

[Ether]

Originally Posted by GeeTwo

H drive isn't holonomic?

Not if the front and rear wheels are chained together on each side.

[GeeTwo]

Originally Posted by Ether

Not if the front and rear wheels are chained together on each side.

How do you define holonomic? I was going off the wikipedia page, admittedly far from authoritative, but it reads:

A robot is holonomic if the controllable degrees of freedom are equal to the total degrees of freedom.

I will add that I never liked this definition - it does not require that those degrees of freedom all have at least orthogonal components. It also considers mecanum and killough not to be holonomic until you add the mechanism or software library to map three inputs to four outputs.