26-09-2010, 02:27
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Spud Gun Division
AKA: Leav Oz-Ari
 FRC #3316 (D-Bug) Team Role: Mentor
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Join Date: Dec 2004
Rookie Year: 2005
Location: Technion, Haifa, Israel
Posts: 774
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Re: How do you model the mecanum rollers?
Quote:
Originally Posted by Ether
An analysis which takes into account the 3 dimensional aspects of the rollers seems to indicate that the correct equation for the profile is parabolic rather than elliptical.
The analysis is given in the presentation titled "equations for bump-free mecanum roller profile" located here:
http://www.chiefdelphi.com/media/papers/2390
[edit] A one-page PDF titled "roller profile parabola vs ellipse comparison" at the same link compares how well a least-squares fit parabola vs ellipse matches a set of XY roller profile data.
Constructive criticism and questions welcomed.
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Thanks for this! very interesting!
__________________
"We choose to build robots this season and do the other things; Not because they are easy, but because they are hard." -Paraphrasing JFK
Participated in FIRST as a student: 2005-2006 (But still learning every season!)
Mentor: 2008 - ? (Team 2630 2008-2011, and Team 3316 since 2013)
Engineer: 2011 - ? (B.Sc. and M.Sc. in Mech. Eng. from the Technion IIT)
FIRST Volunteer - 2007 - ? (MC, FTA, FIRST Aid etc.)
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Exactly matching weight at two different regionals is an indicator of something fishy. :p - Alan Anderson [more] 
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