pic: Toaster Tech 5332 Potential 2016 Drivetrain

[Jay Burnett]

[cdm-description=photo]42616[/cdm-description]

[Whippet]

Great work! I would be hesitant to have unpowered corner wheels on a drivetrain, especially one with no center drop. If there is any concavity in the field, or you get tipped back slightly, you would completely lose all of your driving ability and be stranded until something else moves you into a better spot.

[thatprogrammer]

I might be slightly crazy but the gearboxes look like they're at a slight angle to me.

[Ty Tremblay]

If you get pushed back at an angle, you won't have any driven wheels touching the ground.

Also, your non-driven wheels are reducing the normal force on your driven wheels, reducing traction.

[Jay Burnett]

I might be slightly crazy but the gearboxes look like they're at a slight angle to me.

I used the perspective view in Inventor to generate this render, so that effect makes it look a bit weird. They're not actually angled :)

If you get pushed back at an angle, you won't have any driven wheels touching the ground.

Also, your non-driven wheels are reducing the normal force on your driven wheels, reducing traction.

That's a good point. How far would you suggest raising the omnis to fix this?

[thatprogrammer]

I used the perspective view in Inventor to generate this render, so that effect makes it look a bit weird. They're not actually angled :)
Ok :).
You want to look into integrating some bumper mounting hardware. Quite a few teams have started putting latches to connect their bumpers on similar chassis. :)

[Jay Burnett]

Will do

[Ty Tremblay]

That's a good point. How far would you suggest raising the omnis to fix this?

1/8" will definitely be enough. You could probably even get away with 1/16" since they're omni wheels and you don't have to worry about scrubbing.