Re: Effective Drive Base
 

the quote of the post i'm quoting

Re: Effective Drive Base
 

Okay Let me explain this. I am from an experienced team that doesn't use swerve drive.

In this game your swerve drive will be destroyed by the sharp angle of the ramp and the load it will be required to carry.

On this note you need to modify the long wheel base to navigate the bump with 2 wheels, however it may be benificial to add an additional wheel to increase the "stuff" you can cram under your chasis.

I really wanted a wide chasis with a 22" wheel base which would serve the same function as a 3rd wheel with a narrow chasis.

The mercana drive thought about will not allow you to easily navigate the bumbs since we have seen this at a local college autonomous competition.

Don't yell at me its just food for thought.

Re: Effective Drive Base
 

the WildSwere will not work going over bumps because there is a plate that is about 1" above the ground, and will get stuck on the bump before the wheel can make contact. My team is doing 6wd because of this problem (and our programmer doesnt want to have to figure out a swerve drive in 6 weeks)

Re: Effective Drive Base
 

Modified modules + modified and creative frame. ;)

Re: Effective Drive Base
 

I never said a Crab would be a good idea, nor that it would make it over the ramp. It would be possible to make a crab that can climb. Heck, it's FIRST! Teams have proven it's possible to make almost anything!

Re: Effective Drive Base
 

Try actually adding some mechanisms to that kitbot frame. The COG is so high that it gets scary pretty quickly. We've done a lot of testing the last couple days, and 6 wheel bots long, 4 wheel bots wide, and even 6 wheel bots wide are all pretty darn scary on that bump - the smallest twitch makes them flip over. We're moving on to more exotic drive systems =). You absolutely CAN NOT decide on a drive train without at least building a small trial-bump to play with and see how your bot is going to react.

Re: Effective Drive Base
 

How heavy is it? and how well does it turn?

Re: Effective Drive Base
 

We didn't test any of those, our first prototype is 8wd. I sure hope it works! We had to figure out what wheels to use on it, then order them, so we won't have it going for a couple more days

Re: Effective Drive Base
 

We put some old 6" rover and Bayer kit wheels on the 8wd chassis, and rolled it over the bump (human powered, not motor powered)....looks pretty good so far. Nothing too scary.

Hopefully we'll get the drivetrain and electronics going and drive it over by Friday.

Re: Effective Drive Base
 

Mecanum when programmed, design and driven correctly have great agility and maneuverability, arguably as good as swerve. Obviously the video that you saw was not a good representation of what good mecanum can do.

Re: Effective Drive Base
 

A properly built Mecanum system is one of the most impressive drive systems out there. That being said, it has absolutely no pushing power. If your team rates maneuverability over brute strength, Mecanum is the way to go. However, a large majority of teams don't utilize a Mecanum's trues strength: Translating and rotating at the same time. It takes a skilled programmer and a very aware driver to really use a Mecanum system to full effect.

Re: Effective Drive Base
 

To some extent, every mecanum bot I see makes me second guess my own engineering decisions. I made a thread about that. To another extent, every mecanum I see makes me grin, knowing that my team's robot is best equipped to harass them to no end.

Re: Effective Drive Base
 

Well, to combat lack of pushing power (we use omni-wheels), we decided to use a drop-down, traction wheel covered in roughtop.

Re: Effective Drive Base
 

We did almost the same thing.

We started with a skid steer high traction drive and added a dropdown kiwi holonomic drive.

Re: Effective Drive Base
 

4WD only "jumps" when all 4 wheels have a lot of traction (side friction) switching 2 wheels to slick wheels will fix this.

Also, drop-center 6wd is not true 6wd because you really only have 4 wheels on the ground for most of the time. 6wd doesn't give you more maneuverability, a shorter wheelbase does:

If you wanted to turn a robot about its own axis (the center of the wheelbase) easily, draw a circle that is centered on the axis and intersects each pair of wheels at the wheels, do this for each set of wheels. The closer the wheel is to being tangent to that circle, easier it will be to turn. The circles drawn must be concentric for this to work. Using this method, it can be seen that wheelbases that are wider than they are long will have wheels closer to tangent than longer wheel bases.

Now, change the center of the circles to the center of the force applied by the wheels during the turn. Now, the higher traction wheels should be closer to tangent than the lower traction wheels, this is good. lower traction wheels can slide sideways more than high traction wheels. If you find your drive train, when drawn out with this method, has high traction wheels placed really far off line with the tangent line at the point of intersection, it might not be a good wheel choice for that location.

Edit: I don't think this works well (at all) with swerve, mecanum, or holonomic drive trains