Omnidirectional Drive Systems Ian Mackenzie Introduction
Advantages and Disadvantages Strategies
Types
Omnidirectional Drive Systems
Ian Mackenzie
Swerve Drive Holonomic Drive Mecanum Drive
Kinematics
Swerve Drive Holonomic Drive Mecanum Drive
Examples
Mecanum Drive Hybrid Swerve/Holonomic Drive
2006 FIRST Robotics Conference (Updated 2010-02-21)
Notes References Questions
Ian Mackenzie
Involved in FIRST since 1998 High school student on Woburn Robotics (188) from 1998-2001 University mentor for Woburn Robotics in 2002 Recruiter/organizer for FIRST Canadian Regional in 2003 Lead mentor for Simbotics (1114) in 2004, created SimSwerve crab drive system Planning committee/head referee for Waterloo Regional in 2005 and 2006 Scheduling algorithm developer, inspector, Lego League referee. . .
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
Introduction
Tank drive: 2 degrees of freedom
Omnidirectional Drive Systems Ian Mackenzie Introduction
Advantages and Disadvantages Strategies
Types
Swerve Drive Holonomic Drive Mecanum Drive
Kinematics
Swerve Drive Holonomic Drive Mecanum Drive
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 and Disadvantages Strategies
Advantages Maneuverability Disadvantages Complex
Heavy Less robust Tricky to control
Types
Swerve Drive Holonomic Drive Mecanum Drive
Kinematics
Swerve Drive Holonomic Drive Mecanum Drive
Examples
Mecanum Drive Hybrid Swerve/Holonomic Drive
Notes References Questions
(Usually) less pushing force
Strategies Favouring Omnidirectional Drive
Omnidirectional Drive Systems Ian Mackenzie Introduction
Advantages and Disadvantages Strategies
Primarily oensive robots
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)
Types
Swerve Drive Holonomic Drive Mecanum Drive
Kinematics
Swerve Drive Holonomic Drive Mecanum Drive
Examples
Mecanum Drive Hybrid Swerve/Holonomic Drive
Conned spaces on the eld
Raising the Bar in 2004 Analogous to industrial applications
Notes References Questions
Swerve Drive
Omnidirectional Drive Systems Ian Mackenzie Introduction
Independently steered drive modules Simple conceptually Simple wheels Good traction Complex to build Complex to program and control Maximum pushing force 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
Wheels with straight rollers (omniwheels) More complex conceptually Fairly complex wheels Fairly simple to build Simple to control Lower traction Less speed and pushing force on when moving diagonally
Types
Swerve Drive Holonomic Drive Mecanum Drive
Kinematics
Swerve Drive Holonomic Drive Mecanum Drive
Examples
Mecanum Drive Hybrid Swerve/Holonomic Drive
Notes References Questions
Mecanum Drive
Wheels with angled rollers
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
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
Very complex conceptually Very complex wheels Otherwise simple to build Simple to control Less speed and pushing force when moving diagonally
Notes References Questions
Kinematics
Mathematics describing motion Solid grasp of theory makes control much easier Great example of how real university-level theory can be applied to FIRST robots Three step process:
Dene overall robot motion
Usually by vt , ; can transform other forms into this form quite easily
Omnidirectional Drive Systems Ian Mackenzie Introduction
Advantages and Disadvantages Strategies
Types
Swerve Drive Holonomic Drive Mecanum Drive
Kinematics
Swerve Drive Holonomic Drive Mecanum Drive
y v t x
Examples
Mecanum Drive Hybrid Swerve/Holonomic Drive
Notes References Questions
Calculate velocity at each wheel Calculate actual wheel speed (and possibly orientation) from that velocity
Single Wheel
v
Common to all types of omnidirectional drive Vector approach v = vt + r Scalar approach vx = vtx ry vy = vty + rx
Omnidirectional Drive Systems Ian Mackenzie Introduction
v t
Advantages and Disadvantages Strategies
Types
v r
Swerve Drive Holonomic Drive Mecanum Drive
Kinematics
Swerve Drive Holonomic Drive Mecanum Drive
Examples
v t
r x
Mecanum Drive Hybrid Swerve/Holonomic Drive
Notes References Questions
Entire base
In general, each wheel will have a unique speed and direction
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
Omnidirectional Drive Systems Ian Mackenzie Introduction
v v 2 t v r v r2 v t v t v 3 v r
1
v 1
v t
Advantages and Disadvantages Strategies
Types
Swerve Drive Holonomic Drive Mecanum Drive
Kinematics
Swerve Drive Holonomic Drive Mecanum Drive
Examples
v t v r
v 4
Mecanum Drive Hybrid Swerve/Holonomic Drive
Notes References Questions
4
Swerve Drive Approximations
Some drive trains use swerve modules steered together
Four modules steered together (crab drive) Front modules steered together, back modules steered together Right modules steered together, left modules steered together
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
Does not allow full freedom of motion Requires fewer steering motors
Notes References Questions
Swerve Drive
v
Omnidirectional Drive Systems Ian Mackenzie Introduction
y
Resolve velocity at each wheel into magnitude and angle Be careful with angle quadrant! |v| =
2 2 vx + vy vy vx
Advantages and Disadvantages Strategies
Types
Swerve Drive Holonomic Drive Mecanum Drive
v
x
Kinematics
Swerve Drive Holonomic Drive Mecanum Drive
Examples
Mecanum Drive Hybrid Swerve/Holonomic Drive
Notes References Questions
= arctan
Holonomic Drive
Resolve velocity into parallel and perpendicular components v = vu = (vx + vy )
1 2 + 1 2 vx + 1 2 1 vy 2
Omnidirectional Drive Systems Ian Mackenzie Introduction
Advantages and Disadvantages Strategies
v v v y
Types
Swerve Drive Holonomic Drive Mecanum Drive
Kinematics
Swerve Drive Holonomic Drive Mecanum Drive
Examples
Mecanum Drive Hybrid Swerve/Holonomic Drive
Magnitude of v gives wheel speed |vw | = v
1 vy 2
Notes References Questions
1 = 2 v x +
Mecanum Drive
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 Similar to holonomic drive Conceptually: Resolve velocity into components parallel to wheel and parallel to roller Not easy to calculate directly (directions are not perpendicular), so do it in two steps
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
Resolve to Roller
Resolve velocity into components parallel and perpendicular to roller axis Perpendicular component can be discarded v = vu = (vx + vy )
1 2 + 1 = 2 v x + 1 2 1 vy 2
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
u is not the same for each wheel!
Resolve to Wheel
Use component parallel to roller axis and resolve it into components parallel to wheel and parallel to roller This does not involve simple projections like holonomic drive, so we cannot use dot products However, angle is known, so we can calculate |vw | directly: |vw | = v cos 45 1 = 2 2 v x + = vx + vy
Omnidirectional Drive Systems Ian Mackenzie Introduction
Advantages and Disadvantages Strategies
Types
v w v
Swerve Drive Holonomic Drive Mecanum Drive
Kinematics
Swerve Drive Holonomic Drive Mecanum Drive
Examples
Mecanum Drive Hybrid Swerve/Holonomic Drive
Notes References Questions
1 vy 2
Mecanum Drive Example
Using wheel 3 as an example: v3x v3y = vtx + b = vty a
1 2
b a
Omnidirectional Drive Systems Ian Mackenzie Introduction
Advantages and Disadvantages Strategies
v 2
v 1 u2 v t u1
Types
Swerve Drive Holonomic Drive Mecanum Drive
1 u3 = 2 +
Kinematics
Swerve Drive Holonomic Drive Mecanum Drive
|vw3 | =
Examples
1 2 v3x
1 v3 2 y
v 4 u4
= v3x + v3y = vtx b + vty a = vty vtx (a + b)
u3
v 3
Mecanum Drive Hybrid Swerve/Holonomic Drive
Notes References Questions
Mecanum Drive Example
Omnidirectional Drive Systems Ian Mackenzie Introduction
Similarly,
v 2 v 1 u2 v t
b a
Advantages and Disadvantages Strategies
Types
Swerve Drive Holonomic Drive Mecanum Drive
|vw1 | = vty vtx + (a + b) |vw2 | = vty + vtx (a + b) |vw4 | = vty + vtx + (a + b) Note that all speeds are linear functions of the inputs (i.e. no trigonometry or square roots necessary), so control is very fast.
u1
Kinematics
Swerve Drive Holonomic Drive Mecanum Drive
v 4 u4
Examples
Mecanum Drive Hybrid Swerve/Holonomic Drive
u3
v 3
Notes References Questions
Hybrid Swerve/Holonomic Drive
Omnidirectional Drive Systems Ian Mackenzie Introduction
Advantages and Disadvantages Strategies
v1x v1y v2x v2y v3x v3y
= vtx = vty + a = vtx = vty a = vtx + b = vty
v 2
a
v 1 v t
b
Types
Swerve Drive Holonomic Drive Mecanum Drive
Kinematics
Swerve Drive Holonomic Drive Mecanum Drive
Examples
u3
v 3
Mecanum Drive Hybrid Swerve/Holonomic Drive
Notes References Questions
Hybrid Swerve/Holonomic Drive
Omnidirectional Drive Systems Ian Mackenzie Introduction
Advantages and Disadvantages Strategies
Swerve module 1: |vw1 | = =
2 v1x 2 vtx
v 1
Types
Swerve Drive Holonomic Drive Mecanum Drive
2 v1y 2
v 2
a
v t
b
Kinematics
Swerve Drive Holonomic Drive Mecanum Drive
+ vty + a v1y v1x vty + a vtx
Examples
1 = arctan = arctan
u3
v 3
Mecanum Drive Hybrid Swerve/Holonomic Drive
Notes References Questions
Hybrid Swerve/Holonomic Drive
Omnidirectional Drive Systems Ian Mackenzie Introduction
Advantages and Disadvantages Strategies
Swerve module 2: |vw2 | = =
2 v2x 2 vtx
v 1
Types
Swerve Drive Holonomic Drive Mecanum Drive
2 v2y 2
v 2
a
v t
b
Kinematics
Swerve Drive Holonomic Drive Mecanum Drive
+ vty a v2y v2x vty a vtx
Examples
1 = arctan = arctan
u3
v 3
Mecanum Drive Hybrid Swerve/Holonomic Drive
Notes References Questions
Hybrid Swerve/Holonomic Drive
Omnidirectional Drive Systems Ian Mackenzie Introduction
Advantages and Disadvantages Strategies
v 1
Types
Swerve Drive Holonomic Drive Mecanum Drive
Holonomic wheel: |vw3 | = v3 u3 = v3x + v3y = v3y = vty
v 2
a
v t
b
Kinematics
Swerve Drive Holonomic Drive Mecanum Drive
Examples
u3
v 3
Mecanum Drive Hybrid Swerve/Holonomic Drive
Notes References Questions
Whats 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
Whats 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
Scaling Issues
Omnidirectional Drive Systems Ian Mackenzie Introduction
Advantages and Disadvantages Strategies
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 y
v 1 v 2
a
Types
Swerve Drive Holonomic Drive Mecanum Drive
v t
b
Kinematics
Swerve Drive Holonomic Drive Mecanum Drive
Examples
u3
v 3
Mecanum Drive Hybrid Swerve/Holonomic Drive
Notes References Questions
Scaling Algorithm
Omnidirectional Drive Systems Ian Mackenzie Introduction
Calculate wheel speeds for each wheel Find maximum wheel speed If this is greater than the maximum possible wheel speed, calculate the scaling factor necessary to reduce it to the maximum possible wheel speed Scale all wheel speeds by this factor
v 2
a
Advantages and Disadvantages Strategies
v 1 v t
b
Types
Swerve Drive Holonomic Drive Mecanum Drive
Kinematics
Swerve Drive Holonomic Drive Mecanum Drive
Examples
u3
v 3
Mecanum Drive Hybrid Swerve/Holonomic Drive
Notes References Questions
Robots to Check Out
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
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
References I
Swerve SimSwerve: http://www.chiefdelphi.com/media/papers/1552 Swerve module: http://www.chiefdelphi.com/ forums/showthread.php?t=46817 Concentric crab drive: http://www.chiefdelphi. com/forums/showthread.php?t=24135 Concentric drive: http://www.chiefdelphi.com/ forums/showthread.php?t=23034 Concentric crab module: http://www.chiefdelphi. com/forums/showthread.php?t=22708 Concentric crab drive: http: //www.chiefdelphi.com/media/photos/16091 Swerve module: http://www.chiefdelphi.com/ forums/showpost.php?p=195859&postcount=3
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
References II
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 Crab drive steering: http://www.chiefdelphi.com/media/papers/1599 Lego crab drive: http://www.chiefdelphi.com/ forums/showthread.php?t=28251 Swerve drive approximations: http://www.chiefdelphi.com/forums/ showthread.php?t=28195
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
References III
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 Crab drive base: http: //www.chiefdelphi.com/media/photos/22005 Swerve with unpowered omni wheels: http: //www.chiefdelphi.com/media/photos/14646 Crab module: http: //www.chiefdelphi.com/media/photos/14556 Mecanum Mecanum drive: http://robotics.ee.uwa.edu.au/ eyebot/doc/robots/omni.html Airtrax: http://www.airtrax.com
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
References IV
(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 AndyMark: http://www.andymark.biz/ Omni tracks: http://www.chiefdelphi.com/ forums/showthread.php?t=46501 Tilted omniwheels: http://www.chiefdelphi.com/ forums/showthread.php?t=41723
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
References V
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 Dual omniwheel: http: //www.chiefdelphi.com/media/photos/21966 Advanced omniwheels: http: //www.chiefdelphi.com/media/photos/19483 General Steering control: http://www.chiefdelphi.com/ forums/showthread.php?t=27022
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
References VI
Omnidirectional Drive Systems Ian Mackenzie Introduction
Advantages and Disadvantages Strategies
Types
General discussion: http://www.chiefdelphi.com/ forums/showthread.php?t=20434 Strategies: http://www.chiefdelphi.com/forums/ showthread.php?t=45967 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
Kinematics
Swerve Drive Holonomic Drive Mecanum Drive
Examples
Mecanum Drive Hybrid Swerve/Holonomic Drive
Notes References Questions
