[2] 2 Mecanu wheels
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Mecanum wheel
Mecanum wheel
[1] A Mecanum wheel is a type of omnidirectional wheel allowing a vehicle to maneuver in any direction—forward, backward, diagonally, laterally, and spinning in place—without turning the wheels themselves. Invented by Swedish engineer Bengt Erland Ilon, thus also called the Swedish wheel or Ilon wheel after him who conceived the concept while working as an engineer with the Swedish company Mecanum AB, and patented it in the United States on November 13, 1972.
It consists of a central hub with free-spinning cylindrical rollers set at a 45° angle around its circumference.
Components
Components
A Mecanum wheel uses smaller wheels called "rollers" all around it to
Operation
Operation
[1] Movements to any directions: blue: wheel drive direction; red: vehicle moving direction. a) Moving straight ahead, b) Moving sideways, c) Moving diagonally, d) Moving around a bend, e) Rotation, f) Rotation around the central point of one axle
[4] The correct direction the mecanum wheels of a robot vehicule should be placed at: The front left and back right wheels point to the diagonal left and the front right and back left point diagonal right. I.e., all wheels point to the center, in an 'X' shape.
[4] Mecanum wheels can move body in any direction instantaneously by combining independent wheel rotations. Since the mecanum wheel is composed of a hub and rollers, but, it has unavoidable drawbacks like vertical and horizontal vibrations due to the sequential contacts between rollers and ground.
[3] When only 1 wheel operates on a vehicule, it drag the whole body along the track of its wheels.
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