pic: What's going on here?
 

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i was waiting for that!!!!

Re: pic: What's going on here?
 

So you really feel that a crab drive will provide a serious advantage? I am not entirely convinced that a crab drive will be able to cause a change in direction very quickly given the extremely low CoF

Re: pic: What's going on here?
 

It certainly won't allow quick changes in direction - but nothing else will either. A swerve drive will allow all four wheels to drive without any slipping. A normal skid-steer robot will inherently slip some of its wheels while it turns, giving up that coveted static friction.

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Swerve is always nice, but I don't think its worth it, especially this year, as this year we have to deal with the low friction, and need to tow around the cumbersome trailer anyhow.

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I was waiting for this craig, a 12 wheel drive with a forklift. Right or am I wrong ;)

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if you can get passed the issues with dragging the trailer at your side when you switch the wheel directions, crab should be great. The use of transverse friction will really help with turning and stopping.

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I think it's been established that the transverse and inline friction are the same. The KoP sheet may say otherwise but real world testing shows them to be the same. Just fyi, :)

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I think you might find some issues with crabbing side to side with that trailer attached. You might just end up rotating around the trailer, but it will be interesting to see how it turns out.

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This is obvisouly a ploy to get us thinking that this is a crab module. In fact, take away the wheel and it's a perfectly good shooter wheel mount that fits inside the lazy susan...

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or what about an idler wheel?

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Or just rotate the picture 90* and you get something that looks like this....

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Last I heard it was 32 wheel crab.

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There's a solution to this. I'm not able to share what it is, but in due time the knowledge will be made public. (read: once it's to late to change your designs to copy it)

Read above. Yeah, we've got some ideas on how a crab will aid steering and braking. Plus, there's no real problem, as each wheel is independently driven... Hurrah traction control!

Addressed this too above.

Re: pic: What's going on here?
 

s?o you made your drive train turret independently of your bumpers? This was one of my early ideas but our team does not have the engineering background to make it happen. Congrats!