Holonomic Drive

[kresty]

CHiP is using Mecanums, a specific type of pseudo-omni wheel. For Mecanums to work properly they have to be attached to the chassis like the wheels would be attached to a car.

Omni wheels, which are what are on the Sentry droid are mounted perpendicular to each other when using 4, one at each corner at a 45 degree angle.


Though they both work similar enough that you could definitely get it to work the intent between the two systems is different. Omni wheels are used on robots that use each side of the chassis equally. That is to say, something that doesn't really have a front or a back. When used on remote control robots they often use IMU compensation systems so it doesn't matter which what it's facing, when you move the control away from you, the robot moves away, when you move the control to your left, the robot moves to your left.

Mecanum drives are intended for things that have a distinct front and back but will find great utility in the ability to move directly sidways when the need arises.

I'll put something in the wiki with images, explanations and examples sometime fairly soon for anyone that's interested. We've built more than one of both systems for the competition bots and for various research platforms. They're a lot of fun.

Info in the wiki would be helpful. Maybe when you'd choose one over the other. I think of Mecanums as "loud" but maybe that's just 'cause the robot @ work that has them is huge. They also seem more annoying to my wee mind - like is the math more complicated?