Quote:
Originally Posted by Taylor
I agree that wider bases have less scrub, but never longer than wide?
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Yes, under certain conditions wheelbase can be longer than trackwidth
For the robot pictured, if you make the following simplifying assumptions:
1) all four wheels identical and driven independently with the same torque
2) coefficient of friction of the wheels the same in X and Y directions
3) Center of Mass lies on the the longitudinal axis, somewhere aft of the geometric center of the 4 wheels
... then the analysis becomes straightforward:
http://www.chiefdelphi.com/forums/sh...ad.php?t=99089
JesseK's advice is good though:
Quote:
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If the team doesn't understand the fundamentals of the forces of scrub in a skid steer drive train, then it's probably best they steer clear of longer wheel bases
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