I am trying to model the robot shown in this video,(https://www.youtube.com/watch?v=l__IKY-Xrw4&t=5s)
i.e the robot should be a able to move in the x and y plane without rotating by varying the speeds of each wheel independently. I have updated the model by replacing the cylinder wheel with two spheres, one of the sphere is attached to a motor while the other motor is allowed to rotate freely. However, the model still does not move in a straight line?

Do you have any suggestions of what could be the problem please? Or is there any other way of how I can move a circular disc representing the robot platform that is able to move in any direction and rotate on its own axis in order to be able to bypass the mechanism of the omniwheels while retaining the stability provided by the three wheels?

I appreciate your help and thank you in advance.

OmniRob12.skp

Hello,

I am trying to simulate an omnidirectional 3WD robot in MSphysics using motors and cylinders to simulate the omnidirectional wheel as shown in the attached file. However, the robot does not move in a straight line when the front wheels rotate at the speed but in opposite directions despiste being symmetric. Does anyone have any suggestions of what I can do please ? Thank you in advance.

OmniRob 3.skp