Quote:
Originally Posted by jeremylee
We are going to try putting our strafe omni in line with our front drive omnis. This should work well when holding totes as most weight is on the front. Without totes, we will use a gyro and compensate for turn by diff steering the outer wheels a little. Might not be perfect, will see how it works.
For mounting, I'm thinking we purchase another inner rail to bolt in place and mount gearbox to with live hex and a bearing in the front rail. Probably need to drill out a wheel bolt hole to a hex bearing as we won't want any drop.
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Unless you're about to tip over, this will always introduce a torque so that the front will turn in the direction of the strafe. You can correct, but it's better to have a system that almost works without the feedback loop than one which is uncontrollable without it. The COG is the best place - the question is, with how much load to you optimize? We're looking to mount our strafe wheel onto a piece of aluminum angle or two which bolt to the holes on the top and bottom of the side rails (we're using the KOP chassis). Then, we can adjust this placement relatively easily when we find the COG. This could still be used with sprung suspensions.