Chief Delphi - Crab Steering on Regolith

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Chief Delphi (http://www.chiefdelphi.com/forums/index.php)

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- - Crab Steering on Regolith (http://www.chiefdelphi.com/forums/showthread.php?t=71150)

gpetilli

05-01-2009 11:31

Re: Crab Steering on Regolith

I totally agree. they just want you to use the "flat" part of the wheel.

Quote:

Originally Posted by megaman_22201 (Post 791355)

i believe that crab drive would be allowed because rule R06 reffers to the "normal" orriantation as the wheels being flat on the ground. this only means that the wheels cant be angled to the floor, it has no constraints on how the wheels can be in oriantiation to the robot.

in short, rule R06 states that the wheels have to be perpendiculer with the floor, therefore crab drive would be possible.

Mike Schreiber

05-01-2009 12:25

Re: Crab Steering on Regolith

Quote:

Originally Posted by 1075guy (Post 792007)

To me, the INTENT of <R06> is to prevent teams from utilizing the spokes of the wheel as a traction surface. It is NOT (IMO) intended to stop teams from creatively USING these wheels, in, for instance, a big omniwheel made with these as the rollers, or other creative uses.

A big omniwheel would be redundant as they are already basically omniwheels. A mecanum (spelling?) wheel however...

Also I'm not sure a giant omni wheel made of these would work because then technically your wheels don't always have their axles parallel to the ground, but they do when they are in contact with the ground...Still questionable.

Lesman

05-01-2009 14:57

Re: Crab Steering on Regolith

Actually, these wheels are anti-onmi wheels. The idea behind omnis is that they have a negligible transverse coefficient of friction (CoF) (due to the rollers) and a much higher inline CoF (usually due to the rubber material of the rollers). These wheels are the exact opposite, with an inline CoF on less than half of the transverse CoF. In fact, I doubt a standard configuration of omni wheels would move at all, with the exception of turning in place.

omgapirate

09-01-2009 16:35

Re: Crab Steering on Regolith

I am not sure if this has been said but I believe that somewhere in the rules it states that the coefficient of friction doubles if the wheels are turned sideways

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