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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.


-----------------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:


Attached Files

  • pdf Mecanum Kinematic Analysis 100531

    Mecanum Kinematic Analysis 100531.pdf

    downloaddownload file

    uploaded: 05-31-2010 08:15 AM
    filetype: pdf
    filesize: 60.28kb
    downloads: 9562

  • gif kinematic and force comparison omni vs mecanum 6/23/10

    omni vs mec 100623_.gif

    downloaddownload file

    uploaded: 06-23-2010 09:45 AM
    filetype: gif
    filesize: 45.1kb
    downloads: 4656

  • pdf mecanum force vector analysis


    downloaddownload file

    uploaded: 07-02-2010 07:24 AM
    filetype: pdf
    filesize: 103.56kb
    downloads: 8328

  • pdf omni vs mecanum forces

    omni vs mec forces 100627_.pdf

    downloaddownload file

    uploaded: 07-02-2010 07:29 AM
    filetype: pdf
    filesize: 18.37kb
    downloads: 2003

  • pdf equations for "bump-free" mecanum roller profile RevC

    mecanum 'bumpless' roller profile RevC.pdf

    downloaddownload file

    uploaded: 07-20-2010 05:10 PM
    filetype: pdf
    filesize: 22.18kb
    downloads: 2258

  • pdf roller profile parabola vs ellipse comparison

    roller profile parabola vs ellipse.pdf

    downloaddownload file

    uploaded: 07-20-2010 07:13 PM
    filetype: pdf
    filesize: 9.99kb
    downloads: 1180

  • zip parabolic profile roller projection to XY plane forms circular arc

    parabola projection.zip

    downloaddownload file

    uploaded: 07-24-2010 01:58 PM
    filetype: zip
    filesize: 59.36kb
    downloads: 945

  • zip Win32 "bump-free" mecanum roller profile calculator


    downloaddownload file

    uploaded: 07-26-2010 06:05 PM
    filetype: zip
    filesize: 25.01kb
    downloads: 923

  • txt errata and updates 100731b

    errata & updates 100731b.txt

    downloaddownload file

    uploaded: 07-31-2010 04:47 PM
    filetype: txt
    filesize: 3.23kb
    downloads: 642

  • zip bump-free mecanum roller equations (alternate derivation)

    bump-free mecanum roller equations (alternate derivation).zip

    downloaddownload file

    uploaded: 07-31-2010 10:09 PM
    filetype: zip
    filesize: 62.86kb
    downloads: 1041

  • zip mecanum programming single and double joystick

    mecanum programming Rev C.zip

    downloaddownload file

    uploaded: 08-14-2010 11:25 AM
    filetype: zip
    filesize: 2.21kb
    downloads: 1244

  • pdf control mecanum yaw with gyro

    mecanum gyro revB.pdf

    downloaddownload file

    uploaded: 08-29-2010 03:08 PM
    filetype: pdf
    filesize: 15.01kb
    downloads: 1131

  • zip ATAN2 algorithm and C code


    downloaddownload file

    uploaded: 10-11-2010 02:09 PM
    filetype: zip
    filesize: 2.29kb
    downloads: 711

  • pdf mecanum X & O square & rectangle

    mec X & O rect & square.pdf

    downloaddownload file

    uploaded: 12-06-2010 09:39 PM
    filetype: pdf
    filesize: 18.98kb
    downloads: 1307

  • pdf pseudo-code for mecanum & omni with gyro for field-centric control

    mec or omni w gyro 1-21-2011.pdf

    downloaddownload file

    uploaded: 01-22-2011 06:57 PM
    filetype: pdf
    filesize: 34.38kb
    downloads: 962

  • pdf Cartesian & Joystick to Polar and Nav


    downloaddownload file

    uploaded: 01-23-2011 09:59 AM
    filetype: pdf
    filesize: 8.24kb
    downloads: 754

  • pdf 1-26-2011 mecanum & omni with gyro for field-centric control

    mec or omni w gyro 1-26-2011.pdf

    downloaddownload file

    uploaded: 01-26-2011 08:46 AM
    filetype: pdf
    filesize: 35.86kb
    downloads: 4013

  • pdf 2011-05-04 Kiwi Omniwheel Inverse Kinematics

    Kiwi Omniwheel Inverse Kinematics.pdf

    downloaddownload file

    uploaded: 05-04-2011 03:11 PM
    filetype: pdf
    filesize: 26.99kb
    downloads: 1478

  • zip 2011-09-30a mecanum roller design calculator


    downloaddownload file

    uploaded: 09-30-2011 09:02 PM
    filetype: zip
    filesize: 7.81kb
    downloads: 849

  • pdf link to swerve kinematics and programming

    swerve kinematics and programming.pdf

    downloaddownload file

    uploaded: 10-08-2011 01:04 PM
    filetype: pdf
    filesize: 22.76kb
    downloads: 747

  • zip mecanum gyro follower driver interface

    mec gyro follower 6-10-2013b.zip

    downloaddownload file

    uploaded: 06-10-2013 03:56 PM
    filetype: zip
    filesize: 26.61kb
    downloads: 2546

  • zip omni rotation calculator 2013-11-13


    downloaddownload file

    uploaded: 11-13-2013 11:48 AM
    filetype: zip
    filesize: 64.64kb
    downloads: 985

  • zip omni rotation derivation of equations 2013-11-15


    downloaddownload file

    uploaded: 11-16-2013 12:36 PM
    filetype: zip
    filesize: 60.8kb
    downloads: 843

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08-16-2010 04:42 PM


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

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

07-13-2012 12:13 PM

Bryce Paputa

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

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

03-29-2014 09:19 PM


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

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

view entire thread



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