A Swerve Drive Question

[Stephen Kowski]

Originally Posted by lndnny

I've been doing research on the swerve drive design for some time now and can't seem to find an absolute answer to this question:

Can a four wheel swerve drive with omni-wheels rotate while translating?

I've read threads saying that swerve drives can only translate, but the SimSwerve whitepaper seems to disprove that. Thanks for your time.

well depends on how you have it set up if you can only translate. is it a synchronous drive swerve, or are the modules independent? if they are independent (a la 67) you can translate and rotate at the same time, but if it is setup like 71 you will only translate, stop, turn (like a 4wd skid), and translate again....

if you have the independent modules i would consult Ian's document that he presented at the 2006 championship where he described the kinematic equation for similar systems: http://www.chiefdelphi.com/media/papers/1836

[lndnny]

Originally Posted by Stephen Kowski
well depends on how you have it set up if you can only translate. is it a synchronous drive swerve, or are the modules independent? if they are independent (a la 67) you can translate and rotate at the same time, but if it is setup like 71 you will only translate, stop, turn (like a 4wd skid), and translate again....

Thank You, yes four independent modules
That seems to answer my question.

Dan
Team 808