I have a robot with a drivetrain that is comprised of 4 mecanum wheels. These wheels are able to move vertically and horizontally, as well as rotate. The robot is square (18in x 18in) with the front 2 wheels in line, back 2 wheels in line, left 2 wheels in line, and right 2 wheels in line.

My question is would it be possible to strafe (move horizontally) while rotating? Is this feasible with mecanum wheels? If so, what would be the required relative speeds of each wheel?

Any help is appreciated, thanks!

  • $\begingroup$ Welcome to Robotics "I am a registered user". Can you edit your question to elaborate on the physical setup you have? What do you mean the "wheels are able to move vertically and horizontally"? Do you mean like on a suspension, or something else? (I am not asking about the way mecanum wheels work). $\endgroup$ – Ben Oct 23 '20 at 13:23
  • $\begingroup$ @Ben I edited the question that might clear up some confusion. Does that give you the information you need? Thanks $\endgroup$ – I am a registered user Oct 23 '20 at 13:46
  • $\begingroup$ you did not answer @Ben's second question $\endgroup$ – jsotola Oct 24 '20 at 0:35

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