The Instruction of Mecanum Wheel Vehiclecmtendency
Generally, it consists of four wheels, two left wheels, and two right wheels. Left-handed and right-handed wheels are chiral symmetric, as shown in the picture below.
There are many installation methods, which are mainly divided into X-square, X-rectangle, O-square, and O-rectangle. Where X and O represent the pattern formed by the rollers in contact with the ground of the four wheels; squares and rectangles refer to the shape of the four wheels in contact with the ground.
- X-square: The torque generated by the rotation of the wheel passes through the same point, so the yaw axis cannot actively rotate, nor can it actively maintain the angle of the yaw axis. This type of installation is rarely used.
- X-Rectangle: The rotation of the wheel can produce the yaw axis rotation torque, but the force arm of the rotation torque is generally shorter. This type of installation is also rare.
- O-square: Four wheels are located at the four vertices of the square, with no problems with translation and rotation. Due to factors such as the shape and size of the robot chassis, this type of installation is ideal, but it can be encountered.
- O-Rectangle: The rotation of the wheel can produce the yaw axis rotation torque, and the torque arm of the rotation torque is also relatively long. It is the most common way to install.