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Re: pic: OmniSwerve chassis Bottom View and Concept Discussion
Quote:
Originally Posted by Chak
It would be a very interesting math problem to calculate the theoretical max speed. I don't think it's 1.414, because that either assumes the motor can get up to max speed immediately after a fast turn, or it assumes that omniwheels have no friction laterally. Instead, as the robot turns, it decelerates in one direction and accelerates in the other. With the omniwheels, the net acceleration will probably increase the speed. But to what maximum?
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"hypothetical" might be a better term for that. This unit is geared pretty low (free speed at 14.9 fps) so the acceleration on 6 CIMs should be pretty good. The lateral resistance of omni wheels is kind of an unknown at this point.
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2010-2012 FRC 865 Warp7 Student, Mechanical
2013 FRC 1310 RUNNYMEDE ROBOTICS Student, Mechanical, Design
2014 FRC 865 Warp7 Student, Mechanical, Design
2015 FRC 865 Warp7 Alumni, Mechanical Mentor
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My advice is anytime your intuition tells you something, double check it with physics. - tennispro9911 [more] 
17-06-2016, 21:03
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