Can wheels extend past the frame?
 

Our team is using casters in the back corners. Is it leagal if we turn and the casters turn past the frame perimeter?

Re: Can wheels extend past the frame?
 

edit.

Re: Can wheels extend past the frame?
 

Under very unusual circumstances, but normally no. Our frame is only 26" wide, though.

Re: Can wheels extend past the frame?
 

If the casters go beyond the FRAME PERIMETER as defined in Section 8.2 of the Manual, then no, it is not legal. It is not one of the exceptions listed in <G30>.

If the GDC isn't allowing bolt heads to extend past the FRAME PERIMETER, except in one very specific case, then I doubt that they'd allow a caster to do the same.

Now, if your lower frame is smaller than your upper frame, and the caster goes beyond that, but not beyond the FRAME PERIMETER, then you'd be OK.

Re: Can wheels extend past the frame?
 

No they can't.


Please take it as friendly advice from someone who has used them before. I will never ever ever use casters on a FIRST robot again.

Re: Can wheels extend past the frame?
 

Use ball casters and your problem goes away completely. If you're going to use casters, use ball casters; swivel casters are such a hassle anyway.

Re: Can wheels extend past the frame?
 

Agreed on all fronts...
Your situation is definitely illegal for 2010. Swivel casters on an FRC robot can lead to a lot of headache and heartache anyway. When I was with 103 we had a propensity to use them and had some negative results. They have since gone with ball casters on a few robots with MUCH better results. McMaster sells them for sure, but you might want to consult the teams that have used them to help with your selections.

Re: Can wheels extend past the frame?
 

dont even bother with casters. just use omniwheels if u can obtain them. they are even less of a hassle

Re: Can wheels extend past the frame?
 

Thanks! We think we managed to fix the problem by simply moving the casters further inside the frame. Is it legal if they don't pass the frame Perimeter?

Re: Can wheels extend past the frame?
 

As advised before, switch to ball casters instead if you can't purchase some Omni wheels.

Re: Can wheels extend past the frame?
 

It's legal. Now read from some of the other posts here whether it's advisable or not.

Re: Can wheels extend past the frame?
 

Yah, We thought about omni wheals, but we figured it would be to easy to push us around. I also proposed the ball casters to the team, but everyone thought the swivel casters would be fine. Could someone put the cons on here?

Re: Can wheels extend past the frame?
 

Omni wheels and casters should be equally easy to be pushed by. What resistance to pushing would casters give you?

Re: Can wheels extend past the frame?
 

More to the point, Chris, is "what resistance to normal motion do swivel casters give you?" I've heard the horror stories of teams using them, only to have their robot go a little crazy when a caster didn't act like it should have.

I've also seen teams use ball casters with some success; most teams opt for omni wheels of some form instead of casters as you can get a little bit more forward "oomph" from omnis.

Short and sweet: swivel casters won't give you any less resistance to being pushed around; in fact, they might be the ones doing the pushing. Ball casters are better about not pushing you around. Omnis give you a little bit more forward/aft push (though not much).

Re: Can wheels extend past the frame?
 

The big thing is a caster bot cant go straight to save its worthless life. The one place you cannot cut corners on in you bot is in your drivetrain. Fork over the cash for omnies. IMHO if it was legal a peg leg would be better then a caster.