Valid Configuration? Kiwi with mechanum wheels

[jkelleyrtp]

Originally Posted by DanielPlotas

Would the mecanums have to be off the ground? If they're chained to the traction wheels and the same diameter (as appears in the render), would they not be moving the same speed? Or is there another reason for them to not be touching that I'm just missing?

More in an effort to consolidate traction than anything else. If you place them close enough to another traction wheel though, it shouldn't impact your pushing performance.

Originally Posted by z_beeblebrox

Why couldn't you just use 3 omni wheels instead? You still have 3 DoF movement without the complexity/ weight/ size/ cost of the mecanum wheels.

The vectors don't resolve the same way meaning you couldn't have a perfect left-right strafe. It would be more circular movements, similar to H drive with only the front wheels touching.