Quote:
Originally Posted by shai
Shir, I remember your drive train and it did worked very well.
Our center wheels are indeed lowered.
A 6WD is not necessarily less stable than an 8WD. This is because a design that places the robot's center of gravity away from the middle will result in much less swinging over the center wheel. A robot with eight wheels might do better in those terms, but we find the loss of weight and improved simplicity of a 6WD more important to us.
Our decision to use 4" wheels is based on a few reasons; one of them is to allow us to have a lower CoG.
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2011 was good but our telescope and gripper was way heavier then planed and all though we used 4" wheels the CoG was too high. this is why it was swinging over.. but also from my team's experience 6WD doesn't do the work as well as 8WD and its working differently - the 6WD is all the time on the middle wheels & either of the front or back wheels, the 8WD is all the time on the 2 middle wheels just while needed the other 4 wheels come to help.
anyhow see you at the Kick-off in a week!!
and here starts the end of our life
