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Re: Scrub friction
For a 12x18" robot going to six wheels would be awful tight unless you went smaller than 4" wheels. I would recommend changing the two at the radio end to 4" omnis to minimize the scrub force resisting rotation, and to maximize the scrub force in resisting strafing motion, especially if it is applied near the CoG.
You may have some swaying motion when you go to two omni wheels, whichever end you put them on. You will probably have more swaying one direction than the other - experiment with this to determine which end should be the preferred "front". As I recall from our Ultimate Ascent 'bot, we did better to push from the solid wheels towards the omnis, but we were not driving the omnis, so YMMV.
I'm curious - you referred to this as a tote 'bot. How are you going to secure the tote to the chassis? One big hole or four little ones?
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Last edited by GeeTwo : 01-05-2015 at 17:41.
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