Hey All. I’m trying to compile a quick table for comparing pushing/pulling power between different kinds of drivetrain configurations. I have been looking all over, and can only find the following:

ASSUMPTION / DEFINITION: Each motor/gearbox module provides N amount of force when driven. N is assumed to contain all of the inefficiencies of each motor/gearbox combo.

Tank Drive - A Tank Drive driving straight forward provides 4N force. It cannot strafe. If N = 1 unit, Tank Drive provides 4 units of power.

Holonomic (4 Omni wheels 45-degree offset) - Omni wheels driving forward in a “diamond” configuration each provide (sqrt(2)/2) N power because of the 45-degree offset. All 4 wheels together provides ((4 (sqrt(2)/2)) N) power. If N = 1 unit, the best case Holonomic provides 2.83 units driving forwards, backwards, and laterally. However, when driving diagonally (worse case) with only two wheels driving, Holonimic provides only 2N power; if N = 1 unit, worse case Holonomic provides 2 units power.

Mecanum - Straight forward/backward power = ???, Strafing power = ???, Diagonal Power = ???

Can someone point me to resources to help me complete this for Mecanum? Or, help me correct what I’ve already written?

I’ve found tons of “Mecanum can’t push at all” and “Mecanum provides 70% power” without any experimental data or reasoning to back any of it up. I’m hoping to get some kind of data without me having to go hook up a spring scale on a robot with mecanum wheels myself. I’m actually hoping someone else has done this, and is not just going to provide me with conflicting, “Mecanum wheels provide more/less force than xxxx” statements that I’ve already found online.

Thanks a TON!

-George