Searching For Swerve / Holonomic Drive Idea

[Ari423]

Originally Posted by Alan Anderson

Are we talking about the same thing? The front wheels on the TechnoKats 2003 "ball drive" 'bot are omniwheels, and can impart only forward/backward forces. The balls are the only thing that can produce a sideways force.

Oh then I was looking at the robot backwards. Make that the back wheels (the balls). The point is with this configuration, the drivetrain cannot travel in all three dimensions (x, y, r) at the same time. You could do it using three wheels set up with two balls in the front (or back) and at least one omni wheel facing horizontal (perpendicular to the front).