Șasiuri Holonomice#

Șasiul Mecanum#

Șasiurile mecanum sunt construite din patru roți mecanum care sunt puse în mișcare independent de câte un motor. Această configurație controlează velocitatea fiecărei roți, astfel robotul fiind capabil de a face strafe (a se mișca în lateral)

Termen

Roata Mecanum#

Roțile mecanum sunt un tip special de roți care permit manevrabilitatea și strafing-ul holonomic, față de roțile tradiționale. Acestea conțin o serie de role din cauciuc rotite la 45 de grade fie în stânga, fie în dreapta.

Într-un șasiu mecanum convențional, rotirea roților pe o diagonală în direcția opusă celor de pe cealaltă diagonală permite mișcarea în lateral. Combinarea acestor mișcări ale roților permit mișcarea în orice direcție cu orice rotație (inclusiv fără rotație).

The primary advantage to mecanum drive is the maneuverability it affords, especially because the robot can strafe instead of turn and drive. The rollers on mecanum wheels form a 45 degree angle with the wheel’s axis of rotation, which means that mecanum drivetrains can’t strafe as fast as they can drive forward.

Acest fenomen poate fi explicat prin discutarea forțelor implicate. Când fiecare roată se rotește, aplică o forță de frecare cu pământul, care rotește robotul. Când te miști în față, ambele seturi din stânga de roți se rotesc în aceeași direcție la aceeași viteză, iar ambele seturi din dreapta de roți se rotesc în acceași direcție la aceeași viteză, aceea ce înseamnă că forțele nu se opun unele altora. Însă, când faci strafe, niciuna din roțile din stânga sau roțile din dreapta se rotesc la aceeași viteză. În multe cazuri, se rotesc în direcții opuse.

These two opposing forces cause the rollers to slip more and more, which angles the robot’s velocity at the expense of traction (more slipping results in a loss of speed). However, the wheels do still slip when moving forward but not as drastically as they do when strafing.

Acesta este dezavantajul principal la șasiurile mecanum: ele tind să nu aibă prea multă putere de împingere și astfel, sunt vulnerabile la defensivă din partea unui șasiu tank robust.

Due to the fact that mecanum wheels are more likely to slip because of the diagonal rollers, an optional addition to mecanum drives is a separate odometry mechanism in order to track the robot’s location during autonomous.

Atenție

Este important de reținut faptul că, pentru a maximiza eficiența și stabilitatea șasiurilor mecanum, când sunt văzute de sus, rolele fiecărei roți ar trebui să fie îndreptate înspre centrul robotului, formând o formă de X, decât un romb.

The primary reason for this is that it allows the drivetrain to turn significantly faster than it would otherwise be able to. When using the suggested setup, when viewed from the robot’s underside, the rollers form a rhombus. This allows the force applied by the wheels on the ground to act tangent to the turn radius, leading to faster turning.

Vezi acest video și acest alt video pentru o explicație mai detaliată.

Avantaje#

Manevrabilitate fantastică și agilitate datorită strafing-ului, poate evita devensiva foarte ușor
Accerelație bună, poate avea o viteză maximă mare
Un șasiu foarte versatil pentru aproape orice joc

Dezavantaje#

Tracțiunea lasă de dorit, din moment ce rolele mecanum au un coeficient de frecare mai mic decât roțile de tracțiune, nu poate traversa teren în relief
Poate să fie împins ușor în defensivă
Roțile trebuie să fie puse în mișcare independent, deci nu există redundanță

Diagramă a direcțiilor mecanum — Configurație pentru roți mecanum, din partea goBILDA#

Mini-Ghidul Roților Mecanum#

Unul dintre cele mai importante caracteristici ale unei roți mecanum este mecanismul care îi permite rolei să se rotească - fie bucșe sau rulmenți. Mecanum-urile care folosesc rulmenti fac strafe mai bine decât cele care folosesc bucșe, din moment ce rolele se rotesc cu mai puțină frecare.

Notă

În trecut, unele echipe au investit în roți mecanum de 6 inch (15 cm). Acestea erau în general mai scumpe și nu aveau beneficii semnificative din punct de vedere al performantei. Vă recomandăm să folosiți roți care au între 3 și 4 inch (7-10cm) în diametru.

Recomandate#

Aceste roți sunt standardul de aur al roților mecanum, dacă cumperi roți mecanum noi sunt puține motive să nu cumperi roți mecanum din această secțiune.

goBILDA Mecanum Wheels v2 ($127.49 with team discount): The goBILDA v2 Mecanum Wheels are the gold standard for teams wanting a quality design in all aspects. They feature a 96mm diameter and a thickness of 38mm, with ball bearing supported, 70A durometer rollers that provide excellent strafing performance. With the use of recessed 16x16mm and 32x32mm holes, these wheels have the largest amount of mounting options and can fit all shaft styles commonly used in FTC®.
REV Robotics Mecanum Wheels ($127.50 with team discount): The REV Robotics Mecanum Wheels come in at only 75mm in diameter, providing a smaller mecanum wheel option to FTC teams; however, they are not the thinnest option at 40.8mm thick. They feature ball bearing supported rollers that provide exceptional strafing capabilities and traction. The hole pattern featured on these wheels is compatible with Andymark Nubs as well as the REV Robotics Universal Hex Adapter v2 (which is included); however, in order to use other shaft options the use of an adapter or physical modification will likely be required.

Viable#

These mecanums have acceptable performance but there is very little reason to buy them at this point, as they have been superseded by better ones. If you already own them, they are a viable option, but consider looking at some of the mecanums from the Recommended section.

Nexus Ball Bearing Mecanum Wheels ($134.00): These wheels are 100 mm in diameter and 59 mm wide. They strafe excellently because of the use of ball bearings. However, they are more expensive, take up more space, have less traction, and are harder to mount to than the recommended wheels.
goBILDA Mecanum Wheels v1 (discontinued): These wheels are very similar to the Nexus Ball Bearing Mecanum Wheels, but with a different color scheme and better mounting options.
Andymark Heavy Duty Mecanum Wheels ($225): These are easily the most expensive mecanums on the list. These wheels are 4” in diameter and 1.65” wide. These are bushing based mecanums, so while they strafe decently they still perform worse than bearing based ones. They have a good amount of traction, more than the Nexus bearing or bushing wheels.
Nexus Bushing Mecanum Wheels ($80.00): This is the Nexus Ball Bearing Mecanum Wheel with bushings instead of ball bearings. There is not much to say about them except that they strafe decently but worse than the ball bearing based equivalent.

Not Recommended#

There is almost no reason to use these mecanum wheels—they perform very poorly and are not much cheaper than those in the Recommended section. We cannot recommend the use of these on an FTC robot, if at all possible replace them with mecanums from the Recommended section.

TETRIX Mecanum Wheels ($149.00): These mecanums are designed with a bushing based, hard plastic roller which in turn creates poor strafing performance. The integrated hub is a set screw based design with a round bore, causing unreliability as well as taking up extra space.
Andymark Standard Duty Mecanum Wheels ($77.00): These wheels barely strafe and are super fragile.

8103 Null Robotics's mecanum drivetrain render — 8103 Null Robotics, Rover Ruckus, **using Nexus mecanum bearing**#

731 Wannabee Strange's mecanum drivetrain render — 731 Wannabee Strange, Rover Ruckus, using **AndyMark HD mecanum wheels**#

X-Drive#

X-Drive is a holonomic omni-wheel based drivetrain. This type of drive involves mounting 4 omni wheels at the corner of the robot at a 45 degree angle.

One notable difference between X-Drive and mecanum is strafe speed. While, as mentioned in the mecanum section, the ratio of strafe speed to forward speed is noticeably less than 1, the ratio on an X-Drive is exactly 1 due to the rotational symmetry of the wheel placement. This means that an X-Drive bot’s strafe speed and forward speed are equivalent. The drivetrains are slower, however, when strafing at 45° (approximately $\frac{\sqrt{2}}{2}$ of its forward speed).

Even though X-drive has good turning and acceleration, the main downside to the drive is packaging/form factor. Packaging refers to how easy/convenient the drivetrain fits into the overall design of the robot.

Ideally, the drivetrain should take up as little space as possible to make it easier to design mechanisms around. Because the omni wheels are offset, packaging a X-Drive is more difficult than other types of holonomic drive like mecanum or H-Drive. Also because of the strange packaging, it is relatively difficult to cleanly transfer power from the motors to wheels, meaning that most X-Drives end up being direct-driven, which is bad for the lifespan of the motor gearbox.

Notă

When using X-Drive, the robot moves forwards/backwards/straight side-to-side $\sqrt{2}$ times faster than a drivetrain with wheels in the normal orientation (with the same gear ratio and wheel size).

For an explanation of why exactly this is, see this analysis.

Avantaje#

Good maneuverability and agility
Good acceleration

Dezavantaje#

Prone to defense, pushed around easily
Often uses direct drive due to awkward form factor

731 Wannabee Strange's X-Drive — 731 Wannabee Strange, Velocity Vortex#

5040 Nuts and Bolts's X-Drive — 5040 Nuts and Bolts, Relic Recovery#

H-Drive#

H-Drive (also known as U-drive, depending on the configuration) is a holonomic type drive that uses all omni wheels. H-Drive relies on a set of „strafer wheels” that are perpendicular to the forward/backward wheels to achieve strafing. H-Drive is similar to a fusion of a tank drivetrain while retaining the maneuverability and strafing of holonomic drivetrains.

H-Drive is theoretically very easy to code, but most teams employ some sort of gyro correction to strafe straight, although it is not necessary with proper weight distribution.

H-Drive has a number of possible motor configurations - 1 or 2 motors can be put on each forward drive pod, and one or two motors can be put on the strafe wheels. In the configuration with one motor on each forward drive pod, H-Drive has slightly reduced acceleration compared to mecanum drive.

For the highest possible reliability, many FRC® teams will suspend their strafe wheels on a rocker system to ensure that all wheels are in contact with the ground while the robot is not strafing.

By far the biggest advantage of H-drive is its ability to accommodate multiple motor distributions. For instance, if you want to dedicate only 3 motors to your mechanisms and you have a motor left over, using a 1 strafe motor, 4 drive motor configuration is absolutely viable. Or if you dedicate 5 motors for your mechanisms, H-drive with 2 drive motors and 1 strafe motor is definitely optimal.

Avantaje#

Combines tank and holonomic drivetrain advantages
Can be used with 3 or 5 motors
Good traction and top speed
Great maneuverability and agility

Dezavantaje#

Strafing is slightly less effective than mecanum
Complex suspension occasionally needed, depending on design

9804 Bomb Squad's H-Drive — 9804 Bomb Squad, Relic Recovery#