Quote:
Originally Posted by Boe
we did 4 inch wheels to keep our CoG low and ten wheels to make barrier crossing easier. even though we designed to cross the bump we prefer the ramp because the bump is a little rough on the robot, and so far we haven't experienced any bottlenecks at the ramps. So we'll probably not be crossing the bump except as a last resort.
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Our drive base is similar to yours. FRC 2046 went with 10 4-in wheels also, using WCD type cantilevered axles. The smaller wheel lets us use smaller gearing in the transmissions, but more importantly gives a longer wheelbase for stability in traversing the barrier and with balancing. We raise the 4 outermost wheels approximately 1/8 inch to further improve our turning. Our "multi-tool" appendage is designed to help us traverse the barrier. We pretty much ignore the bridges except for balancing.