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Unread 10-19-2018, 10:19 AM
Swerveee Swerveee is offline
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omni tribot

For the preseason, my team and I are trying to come up with a unique chassis design. Were thinking of doing a tribot with 3 omni wheels. Similar to what team 857 did in 2002: https://www.chiefdelphi.com/media/photos/13490 Does anyone know of other examples? I can't seem to find much information on this...
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Unread 10-19-2018, 10:21 AM
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Re: omni tribot

This type of drive style has been used on FTC bots in the past (where motors are limited to only 6-8). I don't know of any specific examples, but you might find one by digging through FTC history.
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Unread 10-19-2018, 10:24 AM
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Re: omni tribot

1501 in 2010 is a solid example.
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Unread 10-19-2018, 10:25 AM
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Re: omni tribot

Those are generally called Kiwi drives. I believe 1114 used it on their 2015 robot.
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Unread 10-19-2018, 10:41 AM
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Re: omni tribot

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Originally Posted by NShep98 View Post
Those are generally called Kiwi drives. I believe 1114 used it on their 2015 robot.
They did. Their cad and design notebook are available online.

http://www.simbotics.org/resources/cad
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Unread 10-19-2018, 10:49 AM
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Re: omni tribot

^Their notebook is definitely worth spending some time to digest.

The kiwi chassis is by far the best of its kind I have ever seen.
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Unread 10-19-2018, 11:23 AM
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Re: omni tribot

Team 3238 has been working on that drive system for the last couple months on and off, its coming close to completion once again. Was torn apart last year and is in the process of being rebuilt
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Unread 10-19-2018, 01:48 PM
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Re: omni tribot

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Originally Posted by Tom Line View Post
They did. Their cad and design notebook are available online.

http://www.simbotics.org/resources/cad
Thank you this is so helpful
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Unread 10-19-2018, 01:49 PM
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Re: omni tribot

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Originally Posted by blayde22 View Post
Team 3238 has been working on that drive system for the last couple months on and off, its coming close to completion once again. Was torn apart last year and is in the process of being rebuilt
do you have any pictures you could share?
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Unread 10-19-2018, 05:21 PM
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Re: omni tribot

Another very good example of Kiwi drive is team 1425 in 2014. Very effective.
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Unread 10-19-2018, 06:47 PM
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Re: omni tribot

This thread has a good bit about the reverse kinematics (converting joystick values for forward, strafe, and rotate into the inputs for each wheel).
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Last edited by GeeTwo : 10-20-2018 at 10:39 AM. Reason: Yup, I left the link out.
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Unread 10-19-2018, 06:56 PM
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Re: omni tribot

Quote:
Originally Posted by GeeTwo View Post
This thread has a good bit about the reverse kinematics (converting joystick values for forward, strafe, and rotate into the inputs for each wheel).
I think you forgot a link
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Unread 10-19-2018, 07:37 PM
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Re: omni tribot

Quote:
Originally Posted by NShep98 View Post
I think you forgot a link
No link needed, just search on "Ether".

Here's one.
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Last edited by Richard Wallace : 10-19-2018 at 08:07 PM.
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Unread 10-19-2018, 08:00 PM
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Re: omni tribot

Quote:
Originally Posted by feverittm View Post
Another very good example of Kiwi drive is team 1425 in 2014. Very effective.
For anyone who is in the Portland area:

If you would like to see the drivebase from that robot in person you have a chance to tomorrow. It will be at FIRST Fair at Gladstone High School (http://gladstone.k12.or.us/high/even...s-first-fair/).

I am giving a talk on electronics there and it is my demonstration of how to do robot wiring.
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