Spinning the Robot with Mecanum Wheels

[Ether]

Originally Posted by craigboez

Would anyone be willing to provide a vector analysis of a square 'bot rotating about center?

Hi Craig,

Take a look at this PDF:

http://lib.store.yahoo.net/lib/yhst-...lSpecSheet.pdf

It has a force-vector diagram and complete explanation for all three degrees of freedom: fwd/rev, slide left/right, spin CW/CCW

To spin in place clockwise, wheels 1 and 3 should be driven forward while wheels 2 and 4 are being driven backward. If you do this, the force vectors on each of the 4 wheels will produce torque moments about the center of the wheel pattern all in the clockwise direction. They do not cancel, they add.



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