Searching For Swerve / Holonomic Drive Idea

[Alan Anderson]

Originally Posted by Ari423

...with this configuration, the drivetrain cannot travel in all three dimensions (x, y, r) at the same time.

Why not?



Each ball is independently driven in the forward/backward direction, which yields control of y and r. They are driven sideways together, which would happen anyway since they're in the same line in that direction, and that controls x. The omniwheels just go along for the ride in x, and give the same forces as the balls in the y direction (and, by extension, r).

I've driven it. It spins in place. It drives and strafes. It moves diagonally very well. It can go in nice arcs whichever direction it is traveling or facing. With extreme care and very slow and halting motions, it has even made its way in a nearly straight line while doing a full rotation. It acts very much like a four-wheel Mecanum or angled-omniwheel drivebase.