Quote:
Originally Posted by jwfoss
Can you explain the theory behind your locations of your 8 wheels?
I'm curious about your choice in spacing the two center wheels so close together, thanks.
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We have always been a 6WD team, and have gotten pretty good at balancing the robot right on the center wheels. The thought was that we would have less tip to the robot this way by keeping the distance between the outer and inner wheels as big as possible. And in keeping the middle two tight together we get direct driven gearing, and we can run like a 6wd that has a wider balance point and two extra wheels for more contact with the carpet.
Quote:
Originally Posted by Travis Schuh
What is your belt wrap for the stage off of your CIMs going to look like? If that is one belt tangent to the outside of all 3 pulleys, then I would question if you have enough belt wrap on the driven pulley in that arrangement.
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We are going to run two 9mm belts from the motors, We tried the full wrap on a single belt and had a lot of engagement issues. Only four teeth were in contact on the main pulley.
Quote:
Originally Posted by Lil' Lavery
I'd suggest increasing that clearance. There will be some motion in the belt while spinning, and it may end up touching the CIM with only 0.1" clearance.
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a little belt slap is fun though right? We will be able to move the motor plates a bit in our final production. Those plates we will plasma cut in house so we can always make them taller and closer to the center drive unit.