Marsokhod 6x6 is completely articulated in pitch, roll and yaw.
Posted inMechanical

Drive Selection – Wheels, tracks and more

In the past we have looked at wheel design and the kinematics of skid steer and mecanum wheels. In this post we will take a quick look at different types of mobility types (ie. wheels, tracks, and how to connect them) for drive selection. I know the items in this list are not direct comparisons. For example listing rocker bogie…
drive kinematics
Posted inSoftware & Algorithms

Drive Kinematics: Skid Steer & Mecanum (ROS Twist included)

Hi all I am often in need of the basic kinematic motion equations for skid steer vehicles. I have also recently been working with mecanum wheeled vehicles. The skid steer equations are fairly simple and easy to find, however I will include it in different versions and include a ROS approach. The mecanum wheel equations are harder to find and…