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Mecanum and Omni Kinematic and Force Analysis and Programming

Ether

By: Ether
New: 05-20-2010 02:25 AM
Updated: 09-16-2014 11:21 PM
Total downloads: 42318 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

  • pdf Mecanum Kinematic Analysis 100531

    Mecanum Kinematic Analysis 100531.pdf

    downloaddownload file

    uploaded: 05-31-2010 07:15 AM
    filetype: pdf
    filesize: 60.28kb
    downloads: 8311


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

    omni vs mec 100623_.gif

    downloaddownload file

    uploaded: 06-23-2010 08:45 AM
    filetype: gif
    filesize: 45.1kb
    downloads: 3990


  • pdf mecanum force vector analysis

    mecanum_force_vector_analysis.pdf

    downloaddownload file

    uploaded: 07-02-2010 06:24 AM
    filetype: pdf
    filesize: 103.56kb
    downloads: 7331


  • pdf omni vs mecanum forces

    omni vs mec forces 100627_.pdf

    downloaddownload file

    uploaded: 07-02-2010 06:29 AM
    filetype: pdf
    filesize: 18.37kb
    downloads: 1762


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

    mecanum 'bumpless' roller profile RevC.pdf

    downloaddownload file

    uploaded: 07-20-2010 04:10 PM
    filetype: pdf
    filesize: 22.18kb
    downloads: 1898


  • pdf roller profile parabola vs ellipse comparison

    roller profile parabola vs ellipse.pdf

    downloaddownload file

    uploaded: 07-20-2010 06:13 PM
    filetype: pdf
    filesize: 9.99kb
    downloads: 1022


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

    parabola projection.zip

    downloaddownload file

    uploaded: 07-24-2010 12:58 PM
    filetype: zip
    filesize: 59.36kb
    downloads: 731


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

    profXY.zip

    downloaddownload file

    uploaded: 07-26-2010 05:05 PM
    filetype: zip
    filesize: 25.01kb
    downloads: 811


  • txt errata and updates 100731b

    errata & updates 100731b.txt

    downloaddownload file

    uploaded: 07-31-2010 03:47 PM
    filetype: txt
    filesize: 3.23kb
    downloads: 585


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

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

    downloaddownload file

    uploaded: 07-31-2010 09:09 PM
    filetype: zip
    filesize: 62.86kb
    downloads: 929


  • zip mecanum programming single and double joystick

    mecanum programming Rev C.zip

    downloaddownload file

    uploaded: 08-14-2010 10:25 AM
    filetype: zip
    filesize: 2.21kb
    downloads: 1166


  • pdf control mecanum yaw with gyro

    mecanum gyro revB.pdf

    downloaddownload file

    uploaded: 08-29-2010 02:08 PM
    filetype: pdf
    filesize: 15.01kb
    downloads: 1046


  • zip ATAN2 algorithm and C code

    atan2.zip

    downloaddownload file

    uploaded: 10-11-2010 01:09 PM
    filetype: zip
    filesize: 2.29kb
    downloads: 650


  • pdf mecanum X & O square & rectangle

    mec X & O rect & square.pdf

    downloaddownload file

    uploaded: 12-06-2010 08:39 PM
    filetype: pdf
    filesize: 18.98kb
    downloads: 1208


  • 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 05:57 PM
    filetype: pdf
    filesize: 34.38kb
    downloads: 874


  • pdf Cartesian & Joystick to Polar and Nav

    theta3.pdf

    downloaddownload file

    uploaded: 01-23-2011 08:59 AM
    filetype: pdf
    filesize: 8.24kb
    downloads: 691


  • 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 07:46 AM
    filetype: pdf
    filesize: 35.86kb
    downloads: 3267


  • pdf 2011-05-04 Kiwi Omniwheel Inverse Kinematics

    Kiwi Omniwheel Inverse Kinematics.pdf

    downloaddownload file

    uploaded: 05-04-2011 02:11 PM
    filetype: pdf
    filesize: 26.99kb
    downloads: 1161


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

    PROF16.zip

    downloaddownload file

    uploaded: 09-30-2011 08:02 PM
    filetype: zip
    filesize: 7.81kb
    downloads: 734


  • pdf link to swerve kinematics and programming

    swerve kinematics and programming.pdf

    downloaddownload file

    uploaded: 10-08-2011 12:04 PM
    filetype: pdf
    filesize: 22.76kb
    downloads: 667


  • zip mecanum gyro follower driver interface

    mec gyro follower 6-10-2013b.zip

    downloaddownload file

    uploaded: 06-10-2013 02:56 PM
    filetype: zip
    filesize: 26.61kb
    downloads: 1990


  • zip omni rotation calculator 2013-11-13

    omniCalculator_2013-11-13.zip

    downloaddownload file

    uploaded: 11-13-2013 10:48 AM
    filetype: zip
    filesize: 64.64kb
    downloads: 807


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

    omniEquations_2013-11-15.zip

    downloaddownload file

    uploaded: 11-16-2013 11:36 AM
    filetype: zip
    filesize: 60.8kb
    downloads: 685



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Discussion

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08-16-2010 03:42 PM

JamesCH95


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 11:13 AM

Bryce Paputa


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

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



03-29-2014 08:19 PM

mathmad2008


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

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



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