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Re: How can you make turning smoother?
Jibri,
While centripetal force may exist (on an FRC robot), I do not believe it is the dominant force in turning at the velocity we encounter on the field. Simply acceleration or deceleration cause the robot to tip towards the front or back wheels and generally halves the wheelbase in doing so. Teams have found that the distance the center wheel is dropped has significant effects on turning friction dependent on several factors such as wheel tread width, tread type and robot weight. In these designs, it is arguable how much weight is transferred to each wheel but it is unlikely that each wheel will ever receive equal force. In rare cases where the team has managed to balance the robot weight over the center wheels and keep the COG low, it is possible for all the weight to rest on the center wheels. This leaves the front and back wheels (in a six wheel robot) to act more as training wheels than actually supporting the robot. In these robots, turning is accomplished almost exclusively on two wheels minimizing the friction as discussed above. High speed, arcing turns also bring other forces into play shifting significant robot weight to the outer wheels.
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Good Luck All. Learn something new, everyday!
Al
WB9UVJ
www.wildstang.org
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Storming the Tower since 1996.
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