Omnidirectional Drive Systems - B.Light Design
Omnidirectional Drive Systems Ian Mackenzie Introduction Advantages and Disadvantages Strategies Types Omnidirectional Drive Systems Swerve Drive Holonomic Drive Mecanum Drive Kinematics Ian Mackenzie Swerve Drive Holonomic Drive Mecanum Drive Examples 2006 FIRST Robotics Conference (Updated 2010-02-21) Mecanum Drive Hybrid Swerve/Holonomic Drive Notes References Questions
Ian Mackenzie Omnidirectional Drive Systems Ian Mackenzie Introduction I Involved in FIRST since 1998 I High school student on Woburn Robotics (188) from 1998-2001 I University mentor for Woburn Robotics in 2002 I Recruiter/organizer for FIRST Canadian Regional in 2003 I Lead mentor for Simbotics (1114) in 2004, created SimSwerve crab drive system I Planning committee/head referee for Waterloo Regional in 2005 and 2006 Advantages and Disadvantages Strategies Types Swerve Drive Holonomic Drive Mecanum Drive Kinematics Swerve Drive Holonomic Drive Mecanum Drive Examples I Scheduling algorithm developer, inspector, Lego League referee. . . Mecanum Drive Hybrid Swerve/Holonomic Drive Notes References Questions
Introduction Omnidirectional Drive Systems Ian Mackenzie I Tank drive: 2 degrees of freedom Introduction Advantages and Disadvantages Strategies Types Swerve Drive Holonomic Drive Mecanum Drive Kinematics Swerve Drive Holonomic Drive Mecanum Drive I Omnidirectional drive: 3 degrees of freedom Examples Mecanum Drive Hybrid Swerve/Holonomic Drive Notes References Questions
Advantages and Disadvantages Omnidirectional Drive Systems Ian Mackenzie Introduction Advantages I Maneuverability Advantages and Disadvantages Strategies Types Swerve Drive Holonomic Drive Mecanum Drive Kinematics Disadvantages I Complex I I I I Heavy Less robust Tricky to control (Usually) less pushing force Swerve Drive Holonomic Drive Mecanum Drive Examples Mecanum Drive Hybrid Swerve/Holonomic Drive Notes References Questions
Strategies Favouring Omnidirectional Drive Omnidirectional Drive Systems Ian Mackenzie Introduction I Primarily offensive robots I I I I Not good at pushing others Good at avoiding defense If implemented correctly, easier to align robot to targets (e.g. balls to pick up, goals to score into) Confined spaces on the field I I Raising the Bar in 2004 Analogous to industrial applications Advantages and Disadvantages Strategies Types Swerve Drive Holonomic Drive Mecanum Drive Kinematics Swerve Drive Holonomic Drive Mecanum Drive Examples Mecanum Drive Hybrid Swerve/Holonomic Drive Notes References Questions
Swerve Drive Omnidirectional Drive Systems Ian Mackenzie Introduction I Independently steered drive modules I Simple conceptually I Simple wheels I Good traction I Complex to build I Complex to program and control I Maximum pushing force I Either steered gearboxes or concentric drive Advantages and Disadvantages Strategies Types Swerve Drive Holonomic Drive Mecanum Drive Kinematics Swerve Drive Holonomic Drive Mecanum Drive Examples Mecanum Drive Hybrid Swerve/Holonomic Drive Notes References Questions
Holonomic Drive Omnidirectional Drive Systems Ian Mackenzie Introduction Advantages and Disadvantages Strategies I Wheels with ‘straight’ rollers (omniwheels) Types I More complex conceptually Kinematics I Fairly complex wheels I Fairly simple to build I Simple to control I Lower traction Notes I Less speed and pushing force on when moving diagonally References Swerve Drive Holonomic Drive Mecanum Drive Swerve Drive Holonomic Drive Mecanum Drive Examples Mecanum Drive Hybrid Swerve/Holonomic Drive Questions
Mecanum Drive Omnidirectional Drive Systems Ian Mackenzie I Wheels with angled rollers I NOTE: In the diagram, imagine you are viewing the wheels from above, but the top half of the wheels are transparent so you are seeing the pattern of contact between the wheels and the ground Introduction Advantages and Disadvantages Strategies Types Swerve Drive Holonomic Drive Mecanum Drive Kinematics Swerve Drive Holonomic Drive Mecanum Drive Examples Mecanum Drive Hybrid Swerve/Holonomic Drive I Very complex conceptually I Very complex wheels Notes I Otherwise simple to build References I Simple to control I Less speed and pushing force when moving diagonally Questions
Omnidirectional Drive Systems Kinematics Ian Mackenzie I Mathematics describing motion I Solid grasp of theory makes control much easier I Great example of how real university-level theory can be applied to FIRST robots I Introduction Advantages and Disadvantages Strategies Three step process: I Usually by vt , ω ; can transform other forms into this form quite easily I Calculate velocity at each wheel I Calculate actual wheel speed (and possibly orientation) from that velocity Swerve Drive Holonomic Drive Mecanum Drive Kinematics Swerve Drive Holonomic Drive Mecanum Drive Define overall robot motion I Types y Examples Mecanum Drive Hybrid Swerve/Holonomic Drive v t Notes References x Questions
Omnidirectional Drive Systems Single Wheel Ian Mackenzie v Common to all types of omnidirectional drive Introduction v t Advantages and Disadvantages Strategies Types v r Vector approach Swerve Drive Holonomic Drive Mecanum Drive Kinematics Swerve Drive Holonomic Drive Mecanum Drive v vt ω r Examples Scalar approach y v t r vx vtx ω · ry vy vty ω · rx Mecanum Drive Hybrid Swerve/Holonomic Drive Notes References Questions x
Omnidirectional Drive Systems Entire base Ian Mackenzie I In general, each wheel will have a unique speed and direction I I Full swerve drive would require at least 8 motors; has been done once (Chief Delphi in 2001) Swerve drive usually done with 2 swerve modules along with casters or holonomic wheels Introduction v 2 v t v 1 v r v r2 v t Kinematics Swerve Drive Holonomic Drive Mecanum Drive Examples v 4 v t References v r 3 Mecanum Drive Hybrid Swerve/Holonomic Drive Notes v 3 v r Types Swerve Drive Holonomic Drive Mecanum Drive 1 v t v t Advantages and Disadvantages Strategies Questions 4
Swerve Drive Approximations Omnidirectional Drive Systems Ian Mackenzie Introduction I Some drive trains use swerve modules steered together I I I I I Four modules steered together (crab drive) Front modules steered together, back modules steered together Right modules steered together, left modules steered together Does not allow full freedom of motion Requires fewer steering motors Advantages and Disadvantages Strategies Types Swerve Drive Holonomic Drive Mecanum Drive Kinematics Swerve Drive Holonomic Drive Mecanum Drive Examples Mecanum Drive Hybrid Swerve/Holonomic Drive Notes References Questions
Omnidirectional Drive Systems Swerve Drive Ian Mackenzie Introduction y I I Resolve velocity at each wheel into magnitude and angle Be careful with angle quadrant! q v vx2 vy2 v θ arctan vxy Advantages and Disadvantages Strategies v Types Swerve Drive Holonomic Drive Mecanum Drive v Kinematics Swerve Drive Holonomic Drive Mecanum Drive x Examples Mecanum Drive Hybrid Swerve/Holonomic Drive Notes References Questions
Omnidirectional Drive Systems Holonomic Drive Ian Mackenzie I Resolve velocity into parallel and perpendicular components vk v v v · û (vx ı̂ vy ̂) · 12 ı̂ 12 ̂ 12 vx I Introduction 1 vy 2 Kinematics v y Swerve Drive Holonomic Drive Mecanum Drive u Examples Mecanum Drive Hybrid Swerve/Holonomic Drive Notes 12 vx References Questions x vk 1 vy 2 Types Swerve Drive Holonomic Drive Mecanum Drive Magnitude of vk gives wheel speed vw Advantages and Disadvantages Strategies
Omnidirectional Drive Systems Mecanum Drive Ian Mackenzie I NOTE: As before, imagine viewing the wheel with the top half transparent; the diagram shows the pattern of contact between the wheel and the ground Introduction Advantages and Disadvantages Strategies v Types Swerve Drive Holonomic Drive Mecanum Drive Kinematics Swerve Drive Holonomic Drive Mecanum Drive I Similar to holonomic drive I Conceptually: Resolve velocity into components parallel to wheel and parallel to roller Examples Not easy to calculate directly (directions are not perpendicular), so do it in two steps Questions I Mecanum Drive Hybrid Swerve/Holonomic Drive Notes References
Omnidirectional Drive Systems Resolve to Roller Ian Mackenzie I I Resolve velocity into components parallel and perpendicular to roller axis Introduction Advantages and Disadvantages Strategies v Perpendicular component can be discarded vk v · û (vx ı̂ vy ̂) · 12 ı̂ 12 ̂ 12 vx 1 vy 2 Types v Swerve Drive Holonomic Drive Mecanum Drive Kinematics v Swerve Drive Holonomic Drive Mecanum Drive Examples u Mecanum Drive Hybrid Swerve/Holonomic Drive Notes References Questions I û is not the same for each wheel!
Omnidirectional Drive Systems Resolve to Wheel Ian Mackenzie I I I Use component parallel to roller axis and resolve it into components parallel to wheel and parallel to roller Introduction Advantages and Disadvantages Strategies Types v w This does not involve simple projections like holonomic drive, so we cannot use dot products Swerve Drive Holonomic Drive Mecanum Drive Kinematics Swerve Drive Holonomic Drive Mecanum Drive v However, angle is known, so we can calculate vw directly: Examples Mecanum Drive Hybrid Swerve/Holonomic Drive Notes References vk cos 45 1 2 2 v x Questions vw vx vy 1 vy 2
Omnidirectional Drive Systems Mecanum Drive Example Ian Mackenzie Introduction Advantages and Disadvantages Strategies Using wheel 3 as an example: v3x vtx ωb v3y vty ωa û3 12 ı̂ v 2 Types v 1 u 2 Swerve Drive Holonomic Drive Mecanum Drive u 1 Kinematics 1 ̂ 2 v t Swerve Drive Holonomic Drive Mecanum Drive b 1 vw3 2 2 v3x 1 v3 2 y v3x v3y a u 3 v 3 Examples v 4 u 4 Mecanum Drive Hybrid Swerve/Holonomic Drive Notes vtx ωb vty ωa References vty vtx ω (a b) Questions
Omnidirectional Drive Systems Mecanum Drive Example Ian Mackenzie Introduction Advantages and Disadvantages Strategies Similarly, v 2 vw1 vty vtx ω (a b) v 1 u 2 Swerve Drive Holonomic Drive Mecanum Drive u 1 vw2 vty vtx ω (a b) Kinematics v t vw4 vty vtx ω (a b) Swerve Drive Holonomic Drive Mecanum Drive b a Note that all speeds are linear functions of the inputs (i.e. no trigonometry or square roots necessary), so control is very fast. Types u 3 v 3 v 4 u 4 Examples Mecanum Drive Hybrid Swerve/Holonomic Drive Notes References Questions
Omnidirectional Drive Systems Hybrid Swerve/Holonomic Drive Ian Mackenzie Introduction Advantages and Disadvantages Strategies v1x vtx v1y vty ωa v 1 v t v 2 a v2x vtx v2y vty ωa v3x vtx ωb v3y vty Swerve Drive Holonomic Drive Mecanum Drive Kinematics Swerve Drive Holonomic Drive Mecanum Drive b u 3 Types Examples v 3 Mecanum Drive Hybrid Swerve/Holonomic Drive Notes References Questions
Omnidirectional Drive Systems Hybrid Swerve/Holonomic Drive Ian Mackenzie Introduction Advantages and Disadvantages Strategies Swerve module 1: q vw1 v12x v12y q 2 vt2x vty ωa v1y θ1 arctan v1 x vty ωa arctan vtx v 1 v t v 2 a Swerve Drive Holonomic Drive Mecanum Drive Kinematics Swerve Drive Holonomic Drive Mecanum Drive b u 3 Types Examples v 3 Mecanum Drive Hybrid Swerve/Holonomic Drive Notes References Questions
Omnidirectional Drive Systems Hybrid Swerve/Holonomic Drive Ian Mackenzie Introduction Advantages and Disadvantages Strategies Swerve module 2: q vw2 v22x v22y q 2 vt2x vty ωa v2y θ1 arctan v2 x vty ωa arctan vtx v 1 v t v 2 a Swerve Drive Holonomic Drive Mecanum Drive Kinematics Swerve Drive Holonomic Drive Mecanum Drive b u 3 Types Examples v 3 Mecanum Drive Hybrid Swerve/Holonomic Drive Notes References Questions
Omnidirectional Drive Systems Hybrid Swerve/Holonomic Drive Ian Mackenzie Introduction Advantages and Disadvantages Strategies v 1 Holonomic wheel: vw3 v3 · û3 v3x ı̂ v3y ̂ · ̂ v3y vty v t v 2 a Swerve Drive Holonomic Drive Mecanum Drive Kinematics Swerve Drive Holonomic Drive Mecanum Drive b u 3 Types Examples v 3 Mecanum Drive Hybrid Swerve/Holonomic Drive Notes References Questions
What’s Wrong With This Picture? Omnidirectional Drive Systems Ian Mackenzie Introduction Advantages and Disadvantages Strategies Types Swerve Drive Holonomic Drive Mecanum Drive Kinematics Swerve Drive Holonomic Drive Mecanum Drive Examples Mecanum Drive Hybrid Swerve/Holonomic Drive Notes References Questions
What’s Wrong With THIS Picture? NOTE: Remember that diagrams show the pattern of wheel contact with the ground Omnidirectional Drive Systems Ian Mackenzie Introduction Advantages and Disadvantages Strategies Types Swerve Drive Holonomic Drive Mecanum Drive Kinematics Swerve Drive Holonomic Drive Mecanum Drive Examples Mecanum Drive Hybrid Swerve/Holonomic Drive Notes References Questions
Omnidirectional Drive Systems Scaling Issues Ian Mackenzie Introduction Advantages and Disadvantages Strategies I I I Speed calculations may result in greater-than-maximum speeds Possible to limit inputs so this never happens, but this overly restricts some directions Better to adjust speeds on the fly v 1 v t v 2 a Types Swerve Drive Holonomic Drive Mecanum Drive Kinematics Swerve Drive Holonomic Drive Mecanum Drive b Examples u 3 v 3 Mecanum Drive Hybrid Swerve/Holonomic Drive Notes References Questions
Omnidirectional Drive Systems Scaling Algorithm Ian Mackenzie Introduction I I Find maximum wheel speed I If this is greater than the maximum possible wheel speed, calculate the scaling factor necessary to reduce it to the maximum possible wheel speed I Advantages and Disadvantages Strategies Calculate wheel speeds for each wheel Scale all wheel speeds by this factor v 1 v 2 a Kinematics Swerve Drive Holonomic Drive Mecanum Drive b u 3 Types Swerve Drive Holonomic Drive Mecanum Drive v t Examples v 3 Mecanum Drive Hybrid Swerve/Holonomic Drive Notes References Questions
Robots to Check Out Omnidirectional Drive Systems Ian Mackenzie Team 148 in Curie has mecanum drive with two control modes; tank steering and full 3 degree of freedom steering Team 16 in Galileo has two swerve modules steered together but driven seperately at the front, and then a third swerve module at the back; drive is either in crab mode or tank mode Team 71 in Newton has 4 swerve modules steered together but powered seperately, driven in a hybrid crab/tank system Team 118 in Newton has 4 swerve modules steered and driven together (pure crab steering) Team 830 in Galileo has a pure holonomic drive system with full 3 degree of freedom motion Introduction Advantages and Disadvantages Strategies Types Swerve Drive Holonomic Drive Mecanum Drive Kinematics Swerve Drive Holonomic Drive Mecanum Drive Examples Mecanum Drive Hybrid Swerve/Holonomic Drive Notes References Questions
References I Swerve Omnidirectional Drive Systems Ian Mackenzie Introduction I SimSwerve: http://www.chiefdelphi.com/media/papers/1552 I Swerve module: http://www.chiefdelphi.com/ forums/showthread.php?t 46817 I Concentric crab drive: http://www.chiefdelphi. com/forums/showthread.php?t 24135 Kinematics I Concentric drive: http://www.chiefdelphi.com/ forums/showthread.php?t 23034 Examples I Concentric crab module: http://www.chiefdelphi. com/forums/showthread.php?t 22708 I Concentric crab drive: http: //www.chiefdelphi.com/media/photos/16091 I Swerve module: http://www.chiefdelphi.com/ forums/showpost.php?p 195859&postcount 3 Advantages and Disadvantages Strategies Types Swerve Drive Holonomic Drive Mecanum Drive Swerve Drive Holonomic Drive Mecanum Drive Mecanum Drive Hybrid Swerve/Holonomic Drive Notes References Questions
References II Omnidirectional Drive Systems Ian Mackenzie I I I Concentric lego crab drive: http://www.chiefdelphi.com/forums/ showthread.php?t 22552 Swerve drive approximations: http://www.chiefdelphi.com/forums/ showthread.php?t 22386 Concentric crab module: http://www.chiefdelphi. com/forums/showthread.php?t 20242 I Crab drive steering: http://www.chiefdelphi.com/media/papers/1599 I Lego crab drive: http://www.chiefdelphi.com/ forums/showthread.php?t 28251 I Swerve drive approximations: http://www.chiefdelphi.com/forums/ showthread.php?t 28195 Introduction Advantages and Disadvantages Strategies Types Swerve Drive Holonomic Drive Mecanum Drive Kinematics Swerve Drive Holonomic Drive Mecanum Drive Examples Mecanum Drive Hybrid Swerve/Holonomic Drive Notes References Questions
References III I I Team 111 (2003): http: //www.wildstang.org/gallery2/v/2003/2003 Build/2003 Robot Build/2003 Robot Proto/ Team 114 (2005): http://engineer.la.mvla.net/robotics/images. php?showCollection 2005%20Inventor Omnidirectional Drive Systems Ian Mackenzie Introduction Advantages and Disadvantages Strategies Types Swerve Drive Holonomic Drive Mecanum Drive Kinematics I Crab drive base: http: //www.chiefdelphi.com/media/photos/22005 I Swerve with unpowered omni wheels: http: //www.chiefdelphi.com/media/photos/14646 Examples I Crab module: http: //www.chiefdelphi.com/media/photos/14556 Notes Mecanum I Mecanum drive: http://robotics.ee.uwa.edu.au/ eyebot/doc/robots/omni.html I Airtrax: http://www.airtrax.com Swerve Drive Holonomic Drive Mecanum Drive Mecanum Drive Hybrid Swerve/Holonomic Drive References Questions
References IV I I I I (Even more) complex Mecanum wheels: http://www.chiefdelphi.com/forums/ showthread.php?t 39885 Mecanum wheel design: http://www.chiefdelphi. com/forums/showthread.php?t 46175 Mecanum wheel: http: //www.chiefdelphi.com/media/photos/22128 Mecanum drive: http: //www.chiefdelphi.com/media/photos/20664 Holonomic Omnidirectional Drive Systems Ian Mackenzie Introduction Advantages and Disadvantages Strategies Types Swerve Drive Holonomic Drive Mecanum Drive Kinematics Swerve Drive Holonomic Drive Mecanum Drive Examples Mecanum Drive Hybrid Swerve/Holonomic Drive Notes I AndyMark: http://www.andymark.biz/ I Omni tracks: http://www.chiefdelphi.com/ forums/showthread.php?t 46501 I Tilted omniwheels: http://www.chiefdelphi.com/ forums/showthread.php?t 41723 References Questions
References V I I I I Omniwheel position: http://www.chiefdelphi.com/ forums/showthread.php?t 38839 Holonomic drive: http://www.chiefdelphi.com/ forums/showthread.php?t 28168 Holonomic drive: http: //www.chiefdelphi.com/media/photos/22831 Holonomic drive: http: //www.chiefdelphi.com/media/photos/22800 I Dual omniwheel: http: //www.chiefdelphi.com/media/photos/21966 I Advanced omniwheels: http: //www.chiefdelphi.com/media/photos/19483 Omnidirectional Drive Systems Ian Mackenzie Introduction Advantages and Disadvantages Strategies Types Swerve Drive Holonomic Drive Mecanum Drive Kinematics Swerve Drive Holonomic Drive Mecanum Drive Examples Mecanum Drive Hybrid Swerve/Holonomic Drive Notes General I Steering control: http://www.chiefdelphi.com/ forums/showthread.php?t 27022 References Questions
References VI Omnidirectional Drive Systems Ian Mackenzie Introduction Advantages and Disadvantages Strategies Types I General discussion: http://www.chiefdelphi.com/ forums/showthread.php?t 20434 I Strategies: http://www.chiefdelphi.com/forums/ showthread.php?t 45967 I Good general discussion: http://www.chiefdelphi. com/forums/showthread.php?t 20434 Swerve Drive Holonomic Drive Mecanum Drive Kinematics Swerve Drive Holonomic Drive Mecanum Drive Examples Mecanum Drive Hybrid Swerve/Holonomic Drive Notes References Questions
Questions? Omnidirectional Drive Systems Ian Mackenzie Introduction Advantages and Disadvantages Strategies Types Swerve Drive Holonomic Drive Mecanum Drive I ian.e.mackenzie@gmail.com I “Ian Mackenzie” on Chief Delphi Kinematics Swerve Drive Holonomic Drive Mecanum Drive Examples Mecanum Drive Hybrid Swerve/Holonomic Drive Notes References Questions
Drive Systems Ian Mackenzie Introduction Advantages and Disadvantages Strategies Types Swerve Drive Holonomic Drive Mecanum Drive Kinematics Swerve Drive Holonomic Drive Mecanum Drive . easier to align robot to targets (e.g. balls to pick up, goals to score into) I Con ned spaces on the eld I Raising the Bar in 2004 I Analogous to industrial .
Omnidirectional Mobile Robot Design and Implementation 513 3. Omnidirectional mobility The term of omnidirectional is used to describe the ability of a system to move instantaneously in any direction from any configuration. Robotic vehicles are often designed for planar motion; they operate on a warehouse floor, road, lake, table etc.
J. Brake System Warning Light K. Malfunction Indicator Lamp (Check Engine Light) L. Fog Lamps Light M. Upshift Light N. Airbag Readiness Light O. Safety Belt Reminder Light P. Antilock Brake System Warning Light Q. Tire Pressure Warning Light R. StabiliTrak Light Note: The instrument panel cluster is designed to let you know about many
Science Journal: Grade 4 Light Unit Name: _ Natural Vs. Artificial Light Date: _ Light that occurs in nature is natural light. Light that is created by people, and does not occur naturally is artificial light. Artificial Light Natural Light . In the Chart are objects of sources of light. .
USB: Light is not used. DSL: This is your DSL sync system light. The light will flash at first and eventually become a solid green light when your DSL modem is talking with our DSL equipment. INTERNET: Light will become a solid green light after the ADSL light is a solid green light. Light becomes a solid green light once modem receives an IP .
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camera has a 360-degree view, and can cover a wide area using a single camera. Therefore, the omnidirectional cam-era reduces initial costs and subsequent maintenance costs tware licensing) compared to those of a normal camera. In this study, we utilize only one omnidirectional camera.
Certi ed by. Robert T. Morris Assistant Professor of Computer Science and Engineering . In this second test, we set up a temporary omnidirectional antenna where node 32 is now located, and did a series of tests with another omnidirectional antenna attached to a laptop c
3 P a g e www.ncerthelp.com (Visit for all ncert solutions in text and videos, CBSE syllabus, note and many more) (b) 1 pound 0.4537 kg (c) 1 amu 1.66 x10-23 kg 3 Volume
