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Unread 19-05-2010, 10:14
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The Teamless/ Travelling Mentor
AKA: Justin Sticht
FRC #3278 (Qwerty)
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Join Date: Feb 2010
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Re: pic: A mechanum wheel that shouldn't bump around at all.

Quote:
Originally Posted by Ether View Post
There is no "ideal" angle.

Many mecanum wheels have rollers at 45 degrees. This makes the kinematic (and dynamic) analysis easier. The forward and inverse kinematic matrix transformations are simple, with no trig functions or square roots.

Making the angle smaller than 45 degrees (angle between roller axis and plane of the wheel) improves forward/reverse traction but reduces strafing traction, and vice versa.

So there is no one ideal angle. It depends on the application.


~
so what you are saying is that in order to to drive easily both forward and back, it would be best to have a good 45 degree?
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