Quote:
Originally Posted by Dad1279
I'm sure that depends on the application, wheels, gearing, etc......JVN spreadsheet is your friend..... we will confirm with testing.
Back to OP, check the following chart (thanks to team 358): http://team358.org/files/mechanical/...nRefTables.jpg It clearly shows the advantage to 4 CIMs in a conventional traction drivetrain. |
Precisely why I said YMMV.
I really like that spreadsheet, it is what I use quite frequently when picking gear ratios for drivetrains.
This just occurred to me: with 4 CIMs in a drivetrain you will run into two limiting factors in a pushing match. The drive train will be traction-limited, extra motors won't help here because you simply can't get their power/force to the ground. The drive train will be current-limited, i.e. you'll start popping breakers before you lose traction. The issue here is that with 4 CIMs you run the risk of popping the main breaker (120A) before you pop the individual (40A) breakers. Adding two more motors will not improve performance in this situation either because the main breaker will go before any of the individual motors will.
Extra drive motors might help a small amount with acceleration and other dynamic situations, but IMO 4 CIMs can accelerate a full-weight robot very well, even with high gearing.