mecanum wheel
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- Posts: 3
- Joined: 06 Apr 2021, 21:31
mecanum wheel
I designed my robot and using mecanum wheel, how can i configure those wheel ?
Re: mecanum wheel
Hello,
mecanum (or swedish or omnirirectional) wheels can be simulated in various ways via two main methods:
Cheers
mecanum (or swedish or omnirirectional) wheels can be simulated in various ways via two main methods:
- you can design your wheel to contain several free-rolling joints, that each hold a roller. The roller needs to be very carefully dimensioned/designed, since it needs to be convex, and have enough precision for a smooth operation. Additionally, depending on the physics engine you are using, you might want to give each roller enough mass and/or inertia, for stability reasons. See also dynamic design considerations 7-8.
- the other way that we came up with is to design your mecanum wheel as a rigid entity (e.g. a compound shape). Then, in a hidden layer, add a motorized joint, on top of which an auxiliary shape (non-respondable) is attached. On top of that auxiliary shape, mount a free-rolling joint (typically with a 45 deg. angle), and on top of that joint add a respondable sphere. The tricky part is to constantly reset the orientation of the second joint, in order to emulate a mecanum wheel.
Cheers