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 ...never do something because it is comfortable, do something because you WANT to do it. - Andrew Schreiber [more] |
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| ...never do something because it is comfortable, do something because you WANT to do it. - Andrew Schreiber [more] |
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#1
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Re: holonomic drives
Omniwheel.com is where we got ours this year. We used their 4000 series transwheel on our prototype and the Omni 2.538 on our actual bot. In our next incarnation, we will probably machine our own, but that just wasn't within our capabilities this year.
The most popular holonomic platform has 3 wheels at 120 degree intervals around a circle. For a FIRST robot, we decided that 4 wheels at 90 degree intervals was the best configuration to maximize our footprint. I didn't have much input on the programming aspect of this year's bot, but I know we used shaft encoders to monitor and adjust the speed of each wheel. This is vital to a well-behaved robot. |
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