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Unread 10-05-2011, 23:45
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Jeffy Jeffy is offline
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AKA: Jeff Gier
FRC #2410 (Metal Mustang Robotics) #159 (Alpine Robotics)
Team Role: College Student
 
Join Date: Mar 2008
Rookie Year: 2008
Location: Fort Collins
Posts: 523
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Re: Omni Directional movement for tank drive.

Quote:
Originally Posted by Hawiian Cadder View Post
the main goal of this is not to make the robot faster, it is to remove traction and torque from the factors that influence how difficult a robot is to push, thus allowing a team with single speed gearboxes to effectively block a team with 2 speed gearboxes.
Curiosity:
How does this eliminate traction and torque as factors?

On traction:
A single speed robot CAN block a 2 speed robot.
Assume:
1. The single speed robot is oriented so that the motors do not backdrive when being pushed.
2. The tractive force between the robot and the surface is larger for the single speed robot than the two speed robot.
3. The two speed robot has enough torque to provide more force than the frictional force provided by the wheels and "spin" the wheels/tires.

The frictional force between the robots contact surface (ussualy wheels/treads) is what keeps it from being pushed. For the most part, in FRC, any robot with AM tread can be an effective "blocker".
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Metal Mustang Robotics 2410 (2008-2011)
2008 STL Rookie All-Star
2010 GKC Finalists
2010 OKC Champions
Alpine Robotics 159 (2012-)
2012 CO Finalists

700 miles from home, 2 miles from FRC. Life is good.