Mecanum wheels under varying loads

[Robot Sans]

I have seen mecanum not perform to well in situations where the center of mass is closer to one wheel than the others but it is something that can be fixed with clever coding, use of encoders and a accelerometer. A more mechanical solution would be to add a pair of wheels closer to the load, which could be free spinning and even the weight difference.

[Caleb Sykes]

Originally Posted by Robot Sans

A more mechanical solution would be to add a pair of wheels closer to the load, which could be free spinning and even the weight difference.

Can you describe in more detail this method? I am having trouble visualizing what you mean.

[Dr.Gusta]

Originally Posted by Caleb Sykes

Can you describe in more detail this method? I am having trouble visualizing what you mean.

A set of idler wheels...So you have your regular 4 wheel mecanum drive but you add non powered omniwheels of the same size in between the two. That is what I got from it at least. I dont get the mechanics of how it would help though.

[Ether]

Originally Posted by Robot Sans

A more mechanical solution would be to add a pair of wheels closer to the load, which could be free spinning and even the weight difference.

Are you suggesting weight-bearing non-powered wheels? What kind of wheels?

[Robot Sans]

Originally Posted by Ether

Are you suggesting weight-bearing non-powered wheels? What kind of wheels?

Yup, thats what i was thinking. They would have to be low friction but not omni-directional. Plastic wheels would be ideal.

[Ether]

Originally Posted by Robot Sans

Yup, thats what i was thinking. They would have to be low friction but not omni-directional. Plastic wheels would be ideal.

Why not omni? and what effect do you think those wheels might have on the mec's kinematics?

[Daniel_LaFleur]

Originally Posted by Ether

Why not omni? and what effect do you think those wheels might have on the mec's kinematics?

Why not a ball caster?