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pic: Prototype Drivetrain v2
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Re: pic: Prototype Drivetrain v2
I would recommend powering all of the wheels that will be in contact with the ground, including the Omni wheels. In addition to that, are you planning on using the custom traction wheels shown in this model? If so, do the spokes require 3D contouring?
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Re: pic: Prototype Drivetrain v2
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Re: pic: Prototype Drivetrain v2
could you possibly design a suspension that could keep a chain tensioned? Possible have it move around a point that would have the chain stay tensioned as it goes up and down?
Or could you have a chain tensioner that keeps a chain tensioned by use of springs and have the springs that hold the chain tensioned be easier to compress/expand than the spring or whatever you are using to make the wheels have suspension. I am trying to design a suspension for our robot next year but the wheels would be powered in one way or another I don't see a point in having a suspension if you are not going to power the wheels. What is the reason behind having a suspension on unpowered wheels? |
Re: pic: Prototype Drivetrain v2
Why exactly do you need suspension?
Wouldn't it be much easier to lower the center wheels by about 1/8" and power the other wheels with chain? or just going flat 6WD? |
Re: pic: Prototype Drivetrain v2
The suspension is there to improve handling, much like a rocker, only smoother.
I was thinking about widening the carriage for the suspension and putting a dual sprocket with a bearing on the dead axle that is the pivot point. Then run chain to the omni. |
Re: pic: Prototype Drivetrain v2
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And if you want it to rock, why don't you just drop the center and forget about the suspension? If you want to still have the suspension, you could either do what you suggested or make the suspension go up and down along an arc with radius equal to the distance between the front and middle wheels, so the chain has a constant distance. |
Re: pic: Prototype Drivetrain v2
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There is currently no rock at rest. Once you begin moving the suspension absorbs any jarring movements like sudden stops or turns, making it handle more smoothly. |
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Don't get me wrong, I think your idea is really cool. It's just the matter of seeing if all the effort to get it to work is worth it, and if the benefits are true benefits. |
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The other option would to be have a long arm pivoting on the center axle, but that might be too heavy/bulky for practicality. |
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With springs tensioning the suspension, it will rock only as far as it needs to. Using a diff. eq. we can figure out the specs on the spring. Ideally, at rest, the spring keeps the wheels exactaly level. Once the robot starts moving and the CG "shifts" the springs will expand cushioning any sudden blow (like a rapid acceleration). Additionally, if this robot starts to get flipped, all wheels can stay on the ground providing some traction. The front ones would lift off the most, increasing the Fn on the rear and center That still leaves the problem of chain runs though. I'm not sure a slot would have low enough friction, plus the exterior has to be smooth for the bumpers. |
Re: pic: Prototype Drivetrain v2
How about this: Run the chain so that it is long enough to handle the longest dimension, and stick a couple of McMaster part 5896K1 in there as tensioners. That should help keep the chain tensioned correctly, if you don't have too big of difference between longest and shortest chain runs.
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Do you have any experience with whether or not these fall out or how they work? I don't see how they could tension in a situation like this. |
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