Mecanum on kop chassis

[Sperkowsky]

We mounted mecanum wheels on our bot with 4 nanos and with heavy modification.

[skottmorris]

This is the plan for our robot, mounting the TB Nano's on the AM14U2 with a modified width and length to make sure the mecanum wheels are located in the required square pattern, 90 degrees from each other. Using the closest holes in the chassis is giving us a pretty small drive base, but with some counter weights, should be okay.

This will be our first endeavor with mecanum wheels, so we're hoping this works out for us.

[Ether]

Originally Posted by skottmorris

...with a modified width and length to make sure the mecanum wheels are located in the required square pattern, 90 degrees from each other.

Why do you say square is required?

[mklinker]

If not square what code adjustments would need to be made?

[Ether]

Originally Posted by mklinker

If not square what code adjustments would need to be made?

It depends on your driver interface.

If you are giving the driver control of Y,X,and rotate, then no code adjustments would be necessary.

If you have pre-programmed routines in the driver interface (or in autonomous) which depend on commanding specific rotation rates relative to translation commands, then you should scale the rotate command (in radians per second) by a factor K=(wheelbase+trackwidth)/2 as shown on page7 of this document or page19 of this one.

[markmcgary]

Originally Posted by skottmorris

This will be our first endeavor with mecanum wheels, so we're hoping this works out for us.

We've not yet tried a "mecanum" drive, but I have read that the wheels should be mounted such that the rollers form an "X" when viewed from the top or bottom. Am I misinterpreting this CAD drawing?

[Ether]

Originally Posted by markmcgary

I have read that the wheels should be mounted such that the rollers form an "X" when viewed from the top or bottom. Am I misinterpreting this CAD drawing?

Maybe it's a bottom view?

[markmcgary]

Originally Posted by Ether

Maybe it's a bottom view?

I believe that even looking up at that, it's not going to make an "X".

[Ether]

Originally Posted by markmcgary

I believe that even looking up at that, it's not going to make an "X".

If it makes an "O" when viewed from the bottom, it will make an "X" when viewed from the top.

http://www.chiefdelphi.com/forums/sh...3&postcount=28

[markmcgary]

Originally Posted by Ether

It's not supposed to make an "X" when viewed from the bottom.

LOL. Now, I'm embarrassed. Of course, Ether, you are correct. Never having handled one of these mecanum wheels, I had to perform a more detailed mental exercise to visualize the roller angles properly. Note to self: The roller angle forms an "X", only when viewed from the top. Thanks!

[markmcgary]

Originally Posted by Ether

If it makes an "O" when viewed from the bottom, it will make an "X" when viewed from the top.

http://www.chiefdelphi.com/forums/sh...3&postcount=28

OK, I admitted to not knowing my "X"s and "O"s. But, going back to the original CAD rendering, that does appear to be a 2015 KOP drive base looking down from the top.

[Ikillee]

Can you use a toughbox mini's to use mecanum wheels on the KOP chassis?

[JacobD]

Originally Posted by Ikillee

Can you use a toughbox mini's to use mecanum wheels on the KOP chassis?

Yes, my team is able to do direct drive to the mecanum wheels. But, it involves using a second chassis ontop of the first one. Or, mounting braces that extend from the top of the base.

[Sperkowsky]

Originally Posted by Ikillee

Can you use a toughbox mini's to use mecanum wheels on the KOP chassis?

Nope

[TerryS]

Andy Mark just released this 6" Mecanum upgrade kit for the AM14U2. IMHO, the 6.7:1 gearbox ratio is too low for this years game.

http://www.andymark.com/product-p/am-14u2-Mk6.htm