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#16
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Re: Omni Wheels
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#17
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Re: Omni Wheels Survey
Omni wheels actually worked great for my team this year. But, we didnt have them on the ground the whole time. We had ours attatched to a pnumatic cylinder and when the stoke was out the wheels were down and when the stoke was in they were up. We saw early in the build season that the pnumatic wheels that were provided in the kit didn't allow for smooth turning. So our drive/chassie team came up with the idea of having a set of omni wheels stowed up under the robot and that could be deployed when ever the driver wanted them to. This turned out to be a great asset for out team this year because our driver could easliy maneuver the robot.
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#18
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Re: Omni Wheels Survey
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Last edited by RogerR : 25-04-2004 at 18:06. |
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#19
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Re: Omni Wheels Survey
For anyone considering the use of omni wheels on their robot, Andy Baker put out a great white paper on how team 45 made theirs and it has all the specs you need to make a great pair yourself. We on team 177 used a slight variation of these wheels on the back of our robot (we kept pneumatic tires on the front) and they allowed for excellent turning. Despite what people say you do not need at least 3 of these wheels by any stretch of the imagination. We recieved many comments from people attending the Philly regional and nationals that they thought we would be very easy to push out of the way with omni wheels and that they were surprised to see us do all of the pushing. If you saw any of our matches you know that defense was a big part of our game, and these magnificent wheels made that possible.
http://www.chiefdelphi.com/forums/pa...le&paperid=226 |
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#20
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Re: Omni Wheels Survey
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we should get all the robots that have omni wheels and make a big gallery of them, that would look cool.. ![]() |
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#21
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Re: Omni Wheels Survey
well it was our first year with omini wheels-- we actually have to fix them up-- only problem i saw was the rubber on the wheels-- a lot of driving just wore them down-- all well-- i'm sure S.P.A.M. won't mind sharign our design-- nobody we saw had a drive system like us-- and we plan on making them better
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#22
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Re: Omni Wheels Survey
I saw a few teams using omni wheels bought from this site:
http://www.omniwheel.com They have an interesting selection. Rob |
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#23
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Re: Omni Wheels Survey
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we actually did buy some from that site-- took the whole supply actually for that time period but the wheels didn't work for us--didn't hold our load and no clearance-- i had to actually take down the plastic but that didnt' help much either--so we had to fabricate our own wheels at the end of the 6th weeks-- but we did it-- many teams have seen our wheels they are really cool |
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#24
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Re: Omni Wheels Survey
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#25
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#26
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#27
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Re: Omni Wheels Survey
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/-------\ |oooooo| |oooooo| |oooooo| \-------/ for some reason the spaces arent staying between the two walls of my robot so i put o's in the middle when that robot is moving "up" on the page, all the motors will be applying force in that direction. The one thing i can't seem to figure out is wether 100% of their force is in that direction or 1/sqrt2 of it is in that direction because the wheels are at 45deg angles to the direction we are measuring force in. Now basic physics would say that yeah, its 1/sqrt2 because the force is being applied at a 45deg angle, but the odd thing is, when you get out the other xy component vector, it doesnt seem to be applying a force when the robot drives straight assuming the omniwheels have no significant friction to lateral movement. Now im sure no one got that, but if you did, help me cause im really stumped by this. |
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#28
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Re: Omni Wheels Survey
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i'm pretty confident that that you're right with the second one ,[sqrt2]% of available motor power (but then again, i've been awake way too long). that is the reason i think the mecanum/ilon wheel setup is better, since it allows the motors to apply 100% of their power to full forward/back or left/right movement. |
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#29
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Re: Omni Wheels Survey
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::GASP:: Not only have you guys seen one, but it was at the Florida Regional with you. |
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#30
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Re: Omni Wheels Survey
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Both systems get [(sqrt2)/2]% efficiency in the x and y directions. Mecanum wheels have the rollers at 45* angles which produces the same vectors as a normal holonomic platform with its wheels at 45* angles. |
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