By: Ether
New: 05-20-2010 03:25 AM
Updated: 09-17-2014 12:21 AM
Total downloads: 38834 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---------------------------

http://www.chiefdelphi.com/media/papers/download/2722

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




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

http://www.chiefdelphi.com/media/papers/download/2739

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




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

http://www.chiefdelphi.com/media/papers/download/2906




--------------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.

http://www.chiefdelphi.com/media/papers/download/3721




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

http://www.chiefdelphi.com/media/papers/download/2731

http://www.chiefdelphi.com/media/papers/download/2740




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

http://www.chiefdelphi.com/media/papers/download/3795

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-----------------

http://www.chiefdelphi.com/media/papers/download/3805

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:
http://www.chiefdelphi.com/media/papers/download/2749

bump-free mecanum roller equations (alternate derivation):
http://www.chiefdelphi.com/media/papers/download/2777

Win32 "bump-free" mecanum roller profile calculator:
http://www.chiefdelphi.com/media/papers/download/2770

mecanum roller design calculator:
http://www.chiefdelphi.com/media/papers/download/3187

parabolic profile roller projection to XY plane forms circular arc:
http://www.chiefdelphi.com/media/papers/download/2751

roller profile parabola vs ellipse comparison:
http://www.chiefdelphi.com/media/papers/download/2750




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Attached Files

• Mecanum Kinematic Analysis 100531

  Mecanum Kinematic Analysis 100531.pdf

  download file

  uploaded: 05-31-2010 08:15 AM
  filetype: pdf
  filesize: 60.28kb
  downloads: 7356

  
  

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

  omni vs mec 100623_.gif

  download file

  uploaded: 06-23-2010 09:45 AM
  filetype: gif
  filesize: 45.1kb
  downloads: 3602

  
  

• mecanum force vector analysis

  mecanum_force_vector_analysis.pdf

  download file

  uploaded: 07-02-2010 07:24 AM
  filetype: pdf
  filesize: 103.56kb
  downloads: 6585

  
  

• omni vs mecanum forces

  omni vs mec forces 100627_.pdf

  download file

  uploaded: 07-02-2010 07:29 AM
  filetype: pdf
  filesize: 18.37kb
  downloads: 1676

  
  

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

  mecanum 'bumpless' roller profile RevC.pdf

  download file

  uploaded: 07-20-2010 05:10 PM
  filetype: pdf
  filesize: 22.18kb
  downloads: 1764

  
  

• roller profile parabola vs ellipse comparison

  roller profile parabola vs ellipse.pdf

  download file

  uploaded: 07-20-2010 07:13 PM
  filetype: pdf
  filesize: 9.99kb
  downloads: 966

  
  

• parabolic profile roller projection to XY plane forms circular arc

  parabola projection.zip

  download file

  uploaded: 07-24-2010 01:58 PM
  filetype: zip
  filesize: 59.36kb
  downloads: 688

  
  

• Win32 "bump-free" mecanum roller profile calculator

  profXY.zip

  download file

  uploaded: 07-26-2010 06:05 PM
  filetype: zip
  filesize: 25.01kb
  downloads: 770

  
  

• errata and updates 100731b

  errata & updates 100731b.txt

  download file

  uploaded: 07-31-2010 04:47 PM
  filetype: txt
  filesize: 3.23kb
  downloads: 567

  
  

• bump-free mecanum roller equations (alternate derivation)

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

  download file

  uploaded: 07-31-2010 10:09 PM
  filetype: zip
  filesize: 62.86kb
  downloads: 884

  
  

• mecanum programming single and double joystick

  mecanum programming Rev C.zip

  download file

  uploaded: 08-14-2010 11:25 AM
  filetype: zip
  filesize: 2.21kb
  downloads: 1136

  
  

• control mecanum yaw with gyro

  mecanum gyro revB.pdf

  download file

  uploaded: 08-29-2010 03:08 PM
  filetype: pdf
  filesize: 15.01kb
  downloads: 995

  
  

• ATAN2 algorithm and C code

  atan2.zip

  download file

  uploaded: 10-11-2010 02:09 PM
  filetype: zip
  filesize: 2.29kb
  downloads: 618

  
  

• mecanum X & O square & rectangle

  mec X & O rect & square.pdf

  download file

  uploaded: 12-06-2010 09:39 PM
  filetype: pdf
  filesize: 18.98kb
  downloads: 1159

  
  

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

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

  download file

  uploaded: 01-22-2011 06:57 PM
  filetype: pdf
  filesize: 34.38kb
  downloads: 835

  
  

• Cartesian & Joystick to Polar and Nav

  theta3.pdf

  download file

  uploaded: 01-23-2011 09:59 AM
  filetype: pdf
  filesize: 8.24kb
  downloads: 662

  
  

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

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

  download file

  uploaded: 01-26-2011 08:46 AM
  filetype: pdf
  filesize: 35.86kb
  downloads: 2983

  
  

• 2011-05-04 Kiwi Omniwheel Inverse Kinematics

  Kiwi Omniwheel Inverse Kinematics.pdf

  download file

  uploaded: 05-04-2011 03:11 PM
  filetype: pdf
  filesize: 26.99kb
  downloads: 1115

  
  

• 2011-09-30a mecanum roller design calculator

  PROF16.zip

  download file

  uploaded: 09-30-2011 09:02 PM
  filetype: zip
  filesize: 7.81kb
  downloads: 691

  
  

• link to swerve kinematics and programming

  swerve kinematics and programming.pdf

  download file

  uploaded: 10-08-2011 01:04 PM
  filetype: pdf
  filesize: 22.76kb
  downloads: 633

  
  

• mecanum gyro follower driver interface

  mec gyro follower 6-10-2013b.zip

  download file

  uploaded: 06-10-2013 03:56 PM
  filetype: zip
  filesize: 26.61kb
  downloads: 1782

  
  

• omni rotation calculator 2013-11-13

  omniCalculator_2013-11-13.zip

  download file

  uploaded: 11-13-2013 11:48 AM
  filetype: zip
  filesize: 64.64kb
  downloads: 742

  
  

• omni rotation derivation of equations 2013-11-15

  omniEquations_2013-11-15.zip

  download file

  uploaded: 11-16-2013 12:36 PM
  filetype: zip
  filesize: 60.8kb
  downloads: 623

  
  

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