The culture has shifted, people. You can act shocked and complain, and likely lose the attention of the students you want to reach through FRC and other activities, or you can shift with it, and make FRC relatable and relevant to a bunch of good kids with foul mouths. - mrnoble [more]
 Chief Delphi Mecanum and Omni Kinematic and Force Analysis and Programming
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Mecanum and Omni Kinematic and Force Analysis and Programming

#### By: Ether New: 05-20-2010 03:25 AM Updated: 09-17-2014 12:21 AM Total downloads: 49110 times

Mecanum and Omni wheel kinematic and force analysis and programming. Omni vs mecanum force and kinematic comparison. Bump-free mecanum roller profile.

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-----------------Mecanum Kinematic Analysis---------------------------

Given a desired vehicle motion, shows how to calculate
the necessary mecanum wheel speeds to achieve that motion.

--------------Mecanum Force Vector Analysis--------------------------

explains the forces and torques acting on a mecanum wheel,
and why a mecanum vehicle has less traction

----------Mecanum Programming: Single and Double Joystick------------

--------------Halo Auto-Rotate (Halo-AR) Driver interface--------------

A single 2-axis joystick does field-centric control of forward/reverse
and strafe right/left motion, while the robot automatically and
simultaneously rotates to face the direction it is commanded.

----------------Omni vs Mecanum Forces and Kinematics-----------------

------------------Omni Rotation Calculator---------------------------

Calculates the required speeds of each of the 4 omni wheels to achieve
rotation about an arbitrary center of rotation (which may be located
outside the robot frame).

-------------Omni rotation derivation of equations-----------------

shows how the equations used in the omni rotation calculator were derived.

--------------- "Bump-Free" Mecanum Roller Design------------------------

how to profile a mecanum roller so that it is "bump-free",
ie it conforms to the circular circumference of the wheel

equations for "bump-free" mecanum roller profile RevC:

bump-free mecanum roller equations (alternate derivation):

Win32 "bump-free" mecanum roller profile calculator:

mecanum roller design calculator:

parabolic profile roller projection to XY plane forms circular arc:

roller profile parabola vs ellipse comparison:

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• Guest

# Re: paper: Mecanum and Omni Kinematic and Force Analysis

Excellent paper, though maybe a little heavy-duty for most HS students.

# Re: paper: Mecanum and Omni Kinematic and Force Analysis

These are awesome, not too heavy for me (student)!

# Re: paper: Mecanum and Omni Kinematic and Force Analysis

Thanks, these are really useful! Is there any way I can cite them?