Quote:
Originally Posted by asid61
If the COF of the wheels is too low, then you'll be able to push them regardless. If you're running blue nitrile and they're using (insert something with a COF of 1.0 or lower here) and they weigh the same as you, then of course they will move around. There's no magic in an x-formation.
However, there is no way to avoid overcoming the friction of the wheels if the swerve is locked in such a formation. Unless you push with enough force to rotate the modules out of the formation (extremely unlikely), you are basically dealing with the whole weight of the robot times COF. If you can overcome that, then bully for you.
If you push only the corner of the swerve, then it might be easier to push versus a head-on assault.
As an aside, putting the wheels in such a formation makes it very quick to rotate the modules into their next position, making it an ideal rest position as well.
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We can both be running blue nitrile, and my 6WD will still push your X swerve out of location. You talk like the only way to move a robot is to roll its wheels. I can move your swerve by just breaking the friction between it and the ground, it doesn't matter much what orientation your wheels are in (although I haven't tested that to verify this statement). There are lots of discussions on how friction between treads and carpet is not linear, and I have not seen swerves with as wide a wheels as we run in our robots.
Another thing, you talk about swerve having great pushing ability because they can direct their wheels in line with where they are pushing. I don't think it is as simple as this. Most times we are trying to push someone, we are trying to push them in the direction our robot is pointed, so our wheels are largely aligned anyways. However, we will likely have more torque behind our robot because all of our drive wheels on a side are ganged together. When a robot pushes, the weight distribution on the wheels shifts (likely back, depending on how the bumer contact goes). Also, robots typically are not balanced front-back. If you do not have a 50-50 distribution on your wheel, you will not be having as much power to the ground as a 6WD.