Quote:
Originally Posted by Alex Chamberlin
I've heard of a theoretical 3 sim swerve.
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Quote:
Originally Posted by GeeTwo
The archetypal example of crab drive (that is, a number of swerve modules all steered together) is Tumbleweed, 148's FIRST Overdrive robot, which had three wheels all driven off of one massive drive train. Because Tumbleweed had no manipulators, the orientation of the robot did not matter so crab was perfect. If you have a manipulator on a crab robot, you will almost certainly need to have that manipulator be able to rotate relative to the chassis to achieve what the chassis does not. |
It's not just theoretical, it was designed and implemented
very successfully, and even posted on this thread earlier. Well, strictly it's not 3 CIM, but it uses only 3 swerve modules, which I assume is what you meant.