Quote:
Originally Posted by GeeTwo
If the wheels which are powered together drive in the same direction along the same line, you should still have holonomic motion - with the understanding that by virtue of the chain or timing belt, the two (or more) wheels are not independent degrees of freedom, but are effectively the same actuator. I say should because I have not actually tried this yet. I would like to play with a 6-wheel kiwi; it might be a decent platform for a hexagonal or circular 'bot.
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I agree that independent gearboxes, not wheels, determines the control system degrees of freedom. More wheels per gearbox does little to improve performance given that the lb/in2 goes down proportionally to the increase in wheel surface area. So more than one wheel per gearbox takes more space and weights more.